{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 0, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000000.mp4", "length": 649, "action_config": [{"action_text": "pick up the lemon and place it on the plate", "start_frame": 0, "end_frame": 186, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the apple and place it on the plate", "start_frame": 186, "end_frame": 379, "skill": "PickAndPlace", "language_memory": "The lemon has been placed on the plate."}, {"action_text": "pick up the pear and place it on the plate", "start_frame": 379, "end_frame": 649, "skill": "PickAndPlace", "language_memory": "The lemon and apple have been placed on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the lemon and placing it on the plate, then picking up the apple and placing it on the plate, and finally picking up the pear and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 1, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000001.mp4", "length": 692, "action_config": [{"action_text": "pick up the apple and place it on the plate", "start_frame": 0, "end_frame": 252, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the lemon and place it on the plate", "start_frame": 252, "end_frame": 393, "skill": "PickAndPlace", "language_memory": "The apple has been placed on the plate."}, {"action_text": "pick up the pear and place it on the plate", "start_frame": 393, "end_frame": 692, "skill": "PickAndPlace", "language_memory": "The robot has placed the apple and lemon on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the apple and placing it on the plate, then picking up the lemon and placing it on the plate, and finally picking up the pear and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 2, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000002.mp4", "length": 644, "action_config": [{"action_text": "pick up the apple and place it on the plate", "start_frame": 0, "end_frame": 213, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the lemon and place it on the plate", "start_frame": 213, "end_frame": 385, "skill": "PickAndPlace", "language_memory": "The apple has been placed on the plate."}, {"action_text": "pick up the pear and place it on the plate", "start_frame": 385, "end_frame": 644, "skill": "PickAndPlace", "language_memory": "The robot has placed the apple and lemon on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the apple and placing it on the plate, then picking up the lemon and placing it on the plate, and finally picking up the pear and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 3, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000003.mp4", "length": 1358, "action_config": [{"action_text": "pick up the doll on the right side of the bed and place it in the basket", "start_frame": 0, "end_frame": 660, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "move to the basket's right side", "start_frame": 660, "end_frame": 774, "skill": "Navigate", "language_memory": "The doll on the right side of the bed has been placed in the basket."}, {"action_text": "pick up the doll on the bed and place it in the basket", "start_frame": 774, "end_frame": 1358, "skill": "PickAndPlace", "language_memory": "The doll on the right side of the bed was picked up and placed in the basket, and the robot moved to the basket's right side."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Move to the right side of the bed, pick up the doll located there, and place it into the basket. Then, move to the right side of the basket, pick up the second doll from the bed, and place it into the basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 4, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000004.mp4", "length": 988, "action_config": [{"action_text": "pick up the doll on the right side of the bed", "start_frame": 0, "end_frame": 212, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "move away from the bed", "start_frame": 212, "end_frame": 317, "skill": "Navigate", "language_memory": "The doll on the right side of the bed has been picked up."}, {"action_text": "place the doll into the basket", "start_frame": 317, "end_frame": 562, "skill": "Place", "language_memory": "The robot picked up the doll on the right side of the bed and moved away from the bed."}, {"action_text": "pick up the doll on the bed", "start_frame": 562, "end_frame": 792, "skill": "Pick", "language_memory": "The doll on the right side of the bed was picked up and placed into the basket."}, {"action_text": "retreat from the bed", "start_frame": 792, "end_frame": 845, "skill": "Retreat", "language_memory": "The robot picked up a doll from the right side of the bed, moved away, placed it in the basket, and then picked up another doll from the bed."}, {"action_text": "place the doll into the basket", "start_frame": 845, "end_frame": 988, "skill": "Place", "language_memory": "The robot picked up two dolls from the bed and placed them into the basket."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Retrieve the doll located on the right side of the bed, move away from the bed, and place it into the basket. Then, pick up the second doll from the bed, retreat from the bed, and place it into the same basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 5, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000005.mp4", "length": 1090, "action_config": [{"action_text": "pick up the doll on the right side of the bed and place it in the basket", "start_frame": 0, "end_frame": 582, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "adjust the robot posture", "start_frame": 582, "end_frame": 637, "skill": "AdjustPosture", "language_memory": "The doll on the right side of the bed has been placed in the basket."}, {"action_text": "pick up the doll on the bed and place it into the basket", "start_frame": 637, "end_frame": 1090, "skill": "PickAndPlace", "language_memory": "The doll on the right side of the bed has been placed in the basket, and the robot posture has been adjusted."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the dolls by first picking up the doll located on the right side of the bed and placing it into the basket. Next, adjust the robot's posture. Finally, pick up the remaining doll on the bed and place it into the basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 6, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000006.mp4", "length": 1052, "action_config": [{"action_text": "pick up the doll on the right side of the bed and place it in the basket", "start_frame": 0, "end_frame": 565, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the doll on the bed", "start_frame": 565, "end_frame": 818, "skill": "Pick", "language_memory": "The doll on the right side of the bed has been placed in the basket."}, {"action_text": "retreat from the bed", "start_frame": 818, "end_frame": 867, "skill": "Retreat", "language_memory": "The robot has placed a doll from the right side of the bed into a basket and picked up another doll from the bed."}, {"action_text": "place the doll into the basket", "start_frame": 867, "end_frame": 1052, "skill": "Place", "language_memory": "The robot has placed two dolls into the basket and retreated from the bed."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Pick up the doll located on the right side of the bed and place it into the basket. Then, pick up the second doll from the bed and place it into the basket as well. After placing both dolls, retreat from the bed."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 7, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000007.mp4", "length": 1067, "action_config": [{"action_text": "pick up the doll on the right side of the bed and place it in the basket", "start_frame": 0, "end_frame": 479, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the doll on the bed and place it in the basket", "start_frame": 479, "end_frame": 1067, "skill": "PickAndPlace", "language_memory": "The doll on the right side of the bed has been placed in the basket."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Pick up the doll located on the right side of the bed and place it into the basket, then pick up the second doll on the bed and place it into the same basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 8, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000008.mp4", "length": 1165, "action_config": [{"action_text": "pick up the doll on the bed", "start_frame": 0, "end_frame": 229, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "retreat from the bed", "start_frame": 229, "end_frame": 271, "skill": "Retreat", "language_memory": "The doll on the bed has been picked up."}, {"action_text": "place the doll into the basket", "start_frame": 271, "end_frame": 444, "skill": "Place", "language_memory": "The robot has picked up the doll from the bed and retreated from the bed."}, {"action_text": "pick up the doll", "start_frame": 444, "end_frame": 802, "skill": "Pick", "language_memory": "The doll was picked up from the bed and placed into the basket."}, {"action_text": "adjust the robot posture", "start_frame": 802, "end_frame": 879, "skill": "AdjustPosture", "language_memory": "The robot picked up a doll from the bed, retreated, placed it into a basket, and then picked it up again."}, {"action_text": "place the doll into the basket", "start_frame": 879, "end_frame": 1165, "skill": "Place", "language_memory": "The robot picked up a doll from the bed, retreated, placed it into a basket, and then picked up the doll again while adjusting its posture."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Retrieve the doll from the bed, retreat from the bed, and place the doll into the basket. Adjust the robot posture, pick up the doll again, and place it into the basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 9, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000009.mp4", "length": 1326, "action_config": [{"action_text": "pick up the doll", "start_frame": 0, "end_frame": 403, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "adjust the robot posture", "start_frame": 403, "end_frame": 488, "skill": "AdjustPosture", "language_memory": "The doll has been picked up."}, {"action_text": "place the doll into the basket", "start_frame": 488, "end_frame": 709, "skill": "Place", "language_memory": "The robot has picked up the doll and adjusted its posture."}, {"action_text": "pick up the doll on the bed", "start_frame": 709, "end_frame": 983, "skill": "Pick", "language_memory": "The doll has been picked up and placed into the basket."}, {"action_text": "move away from the bed", "start_frame": 983, "end_frame": 1073, "skill": "Navigate", "language_memory": "The robot picked up the doll, adjusted its posture, placed the doll into the basket, and subsequently picked up the doll from the bed."}, {"action_text": "place the doll into the basket", "start_frame": 1073, "end_frame": 1326, "skill": "Place", "language_memory": "The robot picked up the doll, adjusted its posture, placed the doll into the basket, retrieved the doll from the bed, and moved away from the bed."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the doll, adjusting the robot posture, and placing the doll into the basket. Then, pick up the doll from the bed, move away from the bed, and place the doll into the basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 10, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000010.mp4", "length": 1129, "action_config": [{"action_text": "pick up the doll on the right side of the bed", "start_frame": 0, "end_frame": 228, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "move away from the bed", "start_frame": 228, "end_frame": 305, "skill": "Navigate", "language_memory": "The doll on the right side of the bed has been picked up."}, {"action_text": "place the doll into the basket", "start_frame": 305, "end_frame": 555, "skill": "Place", "language_memory": "The robot picked up the doll on the right side of the bed and moved away from the bed."}, {"action_text": "pick up the doll on the bed", "start_frame": 555, "end_frame": 852, "skill": "Pick", "language_memory": "The doll on the right side of the bed was picked up and placed into the basket."}, {"action_text": "retreat from the bed", "start_frame": 852, "end_frame": 915, "skill": "Retreat", "language_memory": "The robot picked up a doll from the right side of the bed, moved away, placed it in the basket, and then picked up another doll from the bed."}, {"action_text": "place the doll into the basket", "start_frame": 915, "end_frame": 1129, "skill": "Place", "language_memory": "The robot picked up two dolls from the bed and placed them into the basket."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Retrieve the doll located on the right side of the bed, move away from the bed, and place it into the basket. Then, pick up the second doll from the bed, retreat from the bed, and place it into the same basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 11, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000011.mp4", "length": 1131, "action_config": [{"action_text": "pick up the doll on the right side of the bed", "start_frame": 0, "end_frame": 213, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "retreat from the bed", "start_frame": 213, "end_frame": 328, "skill": "Retreat", "language_memory": "The doll on the right side of the bed has been picked up."}, {"action_text": "place the doll into the basket", "start_frame": 328, "end_frame": 569, "skill": "Place", "language_memory": "The robot picked up the doll on the right side of the bed and retreated from the bed."}, {"action_text": "pick up the doll on the bed", "start_frame": 569, "end_frame": 890, "skill": "Pick", "language_memory": "The doll on the right side of the bed was picked up and placed into the basket."}, {"action_text": "retreat from the bed", "start_frame": 890, "end_frame": 951, "skill": "Retreat", "language_memory": "The robot picked up a doll from the right side of the bed, retreated, placed it in the basket, and then picked up another doll from the bed."}, {"action_text": "place the doll into the basket", "start_frame": 951, "end_frame": 1131, "skill": "Place", "language_memory": "The robot picked up two dolls from the bed and placed them into the basket."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Retrieve the doll located on the right side of the bed, step back, and place it into the basket. Then, pick up the second doll from the bed, retreat from the bed, and place it into the same basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 12, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000012.mp4", "length": 1202, "action_config": [{"action_text": "pick up the doll on the right side of the bed", "start_frame": 0, "end_frame": 223, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "retreat from the bed", "start_frame": 223, "end_frame": 316, "skill": "Retreat", "language_memory": "The doll on the right side of the bed has been picked up."}, {"action_text": "place the doll into the basket", "start_frame": 316, "end_frame": 558, "skill": "Place", "language_memory": "The robot picked up the doll on the right side of the bed and retreated from the bed."}, {"action_text": "pick up the doll on the bed", "start_frame": 558, "end_frame": 858, "skill": "Pick", "language_memory": "The doll on the right side of the bed was picked up and placed into the basket."}, {"action_text": "move away from the bed", "start_frame": 858, "end_frame": 960, "skill": "Navigate", "language_memory": "The robot picked up a doll from the right side of the bed, retreated, placed it in the basket, and then picked up another doll from the bed."}, {"action_text": "place the doll into the basket", "start_frame": 960, "end_frame": 1202, "skill": "Place", "language_memory": "The robot picked up two dolls from the bed and placed them into the basket."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Retrieve the doll located on the right side of the bed, move away from the bed, and place it into the basket. Then, pick up the second doll from the bed, move away from the bed again, and place it into the same basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 13, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000013.mp4", "length": 577, "action_config": [{"action_text": "pick up the lemon and place it on the plate", "start_frame": 0, "end_frame": 175, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the apple and place it on the plate", "start_frame": 175, "end_frame": 335, "skill": "PickAndPlace", "language_memory": "The lemon has been placed on the plate."}, {"action_text": "pick up the pear and place it on the plate", "start_frame": 335, "end_frame": 577, "skill": "PickAndPlace", "language_memory": "The lemon and apple have been placed on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the lemon and placing it on the plate, then picking up the apple and placing it on the plate, and finally picking up the pear and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 14, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000014.mp4", "length": 1239, "action_config": [{"action_text": "pick up the left doll on the bed and place it into the basket", "start_frame": 0, "end_frame": 553, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the doll on the bed and place it into the basket", "start_frame": 553, "end_frame": 1239, "skill": "PickAndPlace", "language_memory": "The left doll has been picked up from the bed and placed into the basket."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Pick up the left doll on the bed and place it into the basket, then pick up the other doll on the bed and place it into the basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 15, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000015.mp4", "length": 1085, "action_config": [{"action_text": "pick up the doll on the left side of the bed and place it into the basket", "start_frame": 0, "end_frame": 470, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the doll on the bed and place it into the basket", "start_frame": 470, "end_frame": 1085, "skill": "PickAndPlace", "language_memory": "The doll on the left side of the bed has been placed into the basket."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Pick up the doll located on the left side of the bed and place it into the basket, then pick up the second doll on the bed and place it into the same basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 16, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000016.mp4", "length": 1059, "action_config": [{"action_text": "pick up the doll on the ground and place it into the basket", "start_frame": 0, "end_frame": 469, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the doll on the bed", "start_frame": 469, "end_frame": 794, "skill": "Pick", "language_memory": "The doll has been picked up from the ground and placed into the basket."}, {"action_text": "retreat from the bed", "start_frame": 794, "end_frame": 868, "skill": "Retreat", "language_memory": "The doll on the ground has been placed in the basket, and the doll on the bed has been picked up."}, {"action_text": "place the doll into the basket", "start_frame": 868, "end_frame": 1059, "skill": "Place", "language_memory": "The doll on the ground has been placed in the basket, and the doll on the bed has been picked up."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Retrieve the doll from the ground and place it into the basket. Next, pick up the doll located on the bed, retreat from the bed, and then place that doll into the basket as well."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 17, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000017.mp4", "length": 1096, "action_config": [{"action_text": "pick up the doll on the ground and place it into the basket", "start_frame": 0, "end_frame": 524, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the doll on the bed", "start_frame": 524, "end_frame": 775, "skill": "Pick", "language_memory": "The doll has been picked up from the ground and placed into the basket."}, {"action_text": "retreat from the bed", "start_frame": 775, "end_frame": 846, "skill": "Retreat", "language_memory": "The doll on the ground has been placed in the basket, and the doll on the bed has been picked up."}, {"action_text": "place the doll into the basket", "start_frame": 846, "end_frame": 1096, "skill": "Place", "language_memory": "The doll on the ground has been placed in the basket, and the doll on the bed has been picked up."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Retrieve the doll from the ground and place it into the basket. Next, pick up the doll located on the bed, retreat from the bed, and then place that doll into the basket as well."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 18, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000018.mp4", "length": 1119, "action_config": [{"action_text": "pick up the doll on the right side of the bed and place it in the basket", "start_frame": 0, "end_frame": 485, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the doll on the bed and place it in the basket", "start_frame": 485, "end_frame": 1101, "skill": "PickAndPlace", "language_memory": "The doll on the right side of the bed has been placed in the basket."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Pick up the doll located on the right side of the bed and place it into the basket, then pick up the second doll on the bed and place it into the same basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 19, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000019.mp4", "length": 1002, "action_config": [{"action_text": "pick up the doll on the right side of the bed", "start_frame": 0, "end_frame": 163, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "retreat from the bed", "start_frame": 163, "end_frame": 216, "skill": "Retreat", "language_memory": "The doll on the right side of the bed has been picked up."}, {"action_text": "place the doll into the basket", "start_frame": 216, "end_frame": 448, "skill": "Place", "language_memory": "The robot picked up the doll on the right side of the bed and retreated from the bed."}, {"action_text": "pick up the doll on the bed and place it in the basket", "start_frame": 448, "end_frame": 977, "skill": "PickAndPlace", "language_memory": "The doll on the right side of the bed was picked up and placed into the basket."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Retrieve the doll located on the right side of the bed, then retreat from the bed. Next, pick up the second doll resting on the bed and place both dolls into the basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 20, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000020.mp4", "length": 1241, "action_config": [{"action_text": "pick up the doll on the right side of the bed", "start_frame": 0, "end_frame": 283, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "move away from the bed", "start_frame": 283, "end_frame": 387, "skill": "Navigate", "language_memory": "The doll on the right side of the bed has been picked up."}, {"action_text": "place the doll into the basket", "start_frame": 387, "end_frame": 656, "skill": "Place", "language_memory": "The robot picked up the doll on the right side of the bed and moved away from the bed."}, {"action_text": "pick up the doll on the bed and place it into the basket", "start_frame": 656, "end_frame": 1241, "skill": "PickAndPlace", "language_memory": "The doll on the right side of the bed was picked up and placed into the basket."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the dolls by first picking up the doll located on the right side of the bed, moving away from the bed, and placing it into the basket. Next, pick up the second doll from the bed and place it into the same basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 21, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000021.mp4", "length": 1156, "action_config": [{"action_text": "pick up the doll on the right side of the bed and place it into the basket", "start_frame": 0, "end_frame": 566, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the doll on the bed and place it into the basket", "start_frame": 566, "end_frame": 1156, "skill": "PickAndPlace", "language_memory": "The doll on the right side of the bed has been placed into the basket."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Pick up the doll located on the right side of the bed and place it into the basket, then pick up the second doll on the bed and place it into the same basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 22, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000022.mp4", "length": 892, "action_config": [{"action_text": "pick up the doll on the right side of the bed and place it in the basket", "start_frame": 0, "end_frame": 416, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the doll on the bed and place it in the basket", "start_frame": 416, "end_frame": 892, "skill": "PickAndPlace", "language_memory": "The doll on the right side of the bed has been placed in the basket."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Pick up the doll located on the right side of the bed and place it into the basket, then pick up the second doll on the bed and place it into the same basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 23, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000023.mp4", "length": 971, "action_config": [{"action_text": "pick up the doll on the right side of the bed and place it into the basket", "start_frame": 0, "end_frame": 455, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the doll on the bed and place it in the basket", "start_frame": 455, "end_frame": 971, "skill": "PickAndPlace", "language_memory": "The doll on the right side of the bed has been placed into the basket."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Pick up the doll located on the right side of the bed and place it into the basket, then pick up the second doll on the bed and place it in the same basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 24, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000024.mp4", "length": 606, "action_config": [{"action_text": "pick up the apple and place it on the plate", "start_frame": 0, "end_frame": 193, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the lemon and place it on the plate", "start_frame": 193, "end_frame": 370, "skill": "PickAndPlace", "language_memory": "The apple has been placed on the plate."}, {"action_text": "pick up the pear and place it on the plate", "start_frame": 370, "end_frame": 606, "skill": "PickAndPlace", "language_memory": "The robot has placed the apple and lemon on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the apple and placing it on the plate, then picking up the lemon and placing it on the plate, and finally picking up the pear and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 25, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000025.mp4", "length": 635, "action_config": [{"action_text": "pick up the lemon and place it on the plate", "start_frame": 0, "end_frame": 233, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the apple and place it on the plate", "start_frame": 233, "end_frame": 379, "skill": "PickAndPlace", "language_memory": "The lemon has been placed on the plate."}, {"action_text": "pick up the pear and place it on the plate", "start_frame": 379, "end_frame": 635, "skill": "PickAndPlace", "language_memory": "The lemon and apple have been placed on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the lemon and placing it on the plate, then picking up the apple and placing it on the plate, and finally picking up the pear and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 26, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000026.mp4", "length": 564, "action_config": [{"action_text": "pick up the apple and place it on the plate", "start_frame": 0, "end_frame": 182, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the lemon and place it on the plate", "start_frame": 182, "end_frame": 317, "skill": "PickAndPlace", "language_memory": "The apple has been placed on the plate."}, {"action_text": "pick up the pear and place it on the plate", "start_frame": 317, "end_frame": 564, "skill": "PickAndPlace", "language_memory": "The robot has placed the apple and lemon on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the apple and placing it on the plate, then picking up the lemon and placing it on the plate, and finally picking up the pear and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 27, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000027.mp4", "length": 587, "action_config": [{"action_text": "pick up the lemon and place it on the plate", "start_frame": 0, "end_frame": 182, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the apple and place it on the plate", "start_frame": 182, "end_frame": 349, "skill": "PickAndPlace", "language_memory": "The lemon has been placed on the plate."}, {"action_text": "pick up the pear and place it on the plate", "start_frame": 349, "end_frame": 587, "skill": "PickAndPlace", "language_memory": "The lemon and apple have been placed on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the lemon and placing it on the plate, then picking up the apple and placing it on the plate, and finally picking up the pear and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 28, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000028.mp4", "length": 551, "action_config": [{"action_text": "pick up the lemon and place it on the plate", "start_frame": 0, "end_frame": 187, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the pear and place it on the plate", "start_frame": 187, "end_frame": 350, "skill": "PickAndPlace", "language_memory": "The lemon has been placed on the plate."}, {"action_text": "pick up the apple and place it on the plate", "start_frame": 350, "end_frame": 551, "skill": "PickAndPlace", "language_memory": "The lemon and pear have been placed on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the lemon and placing it on the plate, then picking up the pear and placing it on the plate, and finally picking up the apple and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 29, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000029.mp4", "length": 640, "action_config": [{"action_text": "pick up the pear and place it on the plate", "start_frame": 0, "end_frame": 180, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the lemon and place it on the plate", "start_frame": 180, "end_frame": 369, "skill": "PickAndPlace", "language_memory": "The pear has been placed on the plate."}, {"action_text": "pick up the apple and place it on the plate", "start_frame": 369, "end_frame": 640, "skill": "PickAndPlace", "language_memory": "The pear and lemon have been placed on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the pear and placing it on the plate, then picking up the lemon and placing it on the plate, and finally picking up the apple and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 30, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000030.mp4", "length": 628, "action_config": [{"action_text": "pick up the lemon and place it on the plate", "start_frame": 0, "end_frame": 215, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the apple and place it on the plate", "start_frame": 215, "end_frame": 403, "skill": "PickAndPlace", "language_memory": "The lemon has been placed on the plate."}, {"action_text": "pick up the pear and place it on the plate", "start_frame": 403, "end_frame": 628, "skill": "PickAndPlace", "language_memory": "The lemon and apple have been placed on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the lemon and placing it on the plate, then picking up the apple and placing it on the plate, and finally picking up the pear and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 31, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000031.mp4", "length": 519, "action_config": [{"action_text": "pick up the apple and place it on the plate", "start_frame": 0, "end_frame": 170, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the pear and place it on the plate", "start_frame": 170, "end_frame": 519, "skill": "PickAndPlace", "language_memory": "The apple has been placed on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the apple and placing it on the plate, then picking up the pear and placing it on the same plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 32, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000032.mp4", "length": 622, "action_config": [{"action_text": "pick up the apple and place it on the plate", "start_frame": 0, "end_frame": 203, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the pear and place it on the plate", "start_frame": 203, "end_frame": 348, "skill": "PickAndPlace", "language_memory": "The apple has been placed on the plate."}, {"action_text": "pick up the lemon and place it on the plate", "start_frame": 348, "end_frame": 622, "skill": "PickAndPlace", "language_memory": "The robot has placed the apple and pear on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the apple and placing it on the plate, then picking up the pear and placing it on the plate, and finally picking up the lemon and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 33, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000033.mp4", "length": 591, "action_config": [{"action_text": "pick up the apple and place it on the plate", "start_frame": 0, "end_frame": 204, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the lemon and place it on the plate", "start_frame": 204, "end_frame": 387, "skill": "PickAndPlace", "language_memory": "The apple has been placed on the plate."}, {"action_text": "pick up the pear and place it on the plate", "start_frame": 387, "end_frame": 591, "skill": "PickAndPlace", "language_memory": "The robot has placed the apple and lemon on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the apple and placing it on the plate, then picking up the lemon and placing it on the plate, and finally picking up the pear and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 34, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000034.mp4", "length": 600, "action_config": [{"action_text": "pick up the lemon and place it on the plate", "start_frame": 0, "end_frame": 155, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the apple and place it on the plate", "start_frame": 155, "end_frame": 330, "skill": "PickAndPlace", "language_memory": "The lemon has been placed on the plate."}, {"action_text": "pick up the pear and place it on the plate", "start_frame": 330, "end_frame": 600, "skill": "PickAndPlace", "language_memory": "The lemon and apple have been placed on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the lemon and placing it on the plate, then picking up the apple and placing it on the plate, and finally picking up the pear and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 35, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000035.mp4", "length": 519, "action_config": [{"action_text": "pick up the apple and place it on the plate", "start_frame": 0, "end_frame": 162, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the lemon and place it on the plate", "start_frame": 162, "end_frame": 296, "skill": "PickAndPlace", "language_memory": "The apple has been placed on the plate."}, {"action_text": "pick up the pear and place it on the plate", "start_frame": 296, "end_frame": 519, "skill": "PickAndPlace", "language_memory": "The robot has placed the apple and lemon on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the apple and placing it on the plate, then picking up the lemon and placing it on the plate, and finally picking up the pear and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 36, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000036.mp4", "length": 544, "action_config": [{"action_text": "pick up the pear and place it on the plate", "start_frame": 0, "end_frame": 207, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the apple and place it on the plate", "start_frame": 207, "end_frame": 366, "skill": "PickAndPlace", "language_memory": "The pear has been placed on the plate."}, {"action_text": "pick up the lemon and place it on the plate", "start_frame": 366, "end_frame": 544, "skill": "PickAndPlace", "language_memory": "The pear and apple have been placed on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the pear and placing it on the plate, then picking up the apple and placing it on the plate, and finally picking up the lemon and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 37, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000037.mp4", "length": 569, "action_config": [{"action_text": "pick up the apple and place it on the plate", "start_frame": 0, "end_frame": 183, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the pear and place it on the plate", "start_frame": 183, "end_frame": 319, "skill": "PickAndPlace", "language_memory": "The apple has been placed on the plate."}, {"action_text": "pick up the lemon and place it on the plate", "start_frame": 319, "end_frame": 569, "skill": "PickAndPlace", "language_memory": "The robot has placed the apple and pear on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the apple and placing it on the plate, then picking up the pear and placing it on the plate, and finally picking up the lemon and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 38, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000038.mp4", "length": 501, "action_config": [{"action_text": "pick up the pear and place it on the plate", "start_frame": 0, "end_frame": 171, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the apple and place it on the plate", "start_frame": 171, "end_frame": 322, "skill": "PickAndPlace", "language_memory": "The pear has been placed on the plate."}, {"action_text": "pick up the lemon and place it on the plate", "start_frame": 322, "end_frame": 501, "skill": "PickAndPlace", "language_memory": "The pear and apple have been placed on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the pear and placing it on the plate, then picking up the apple and placing it on the plate, and finally picking up the lemon and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 39, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000039.mp4", "length": 528, "action_config": [{"action_text": "pick up the lemon and place it on the plate", "start_frame": 0, "end_frame": 177, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the apple and place it on the plate", "start_frame": 177, "end_frame": 317, "skill": "PickAndPlace", "language_memory": "The lemon has been placed on the plate."}, {"action_text": "pick up the pear and place it on the plate", "start_frame": 317, "end_frame": 528, "skill": "PickAndPlace", "language_memory": "The lemon and apple have been placed on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the lemon and placing it on the plate, then picking up the apple and placing it on the plate, and finally picking up the pear and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 40, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000040.mp4", "length": 567, "action_config": [{"action_text": "pick up the pear and place it on the plate", "start_frame": 0, "end_frame": 213, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the lemon and place it on the plate", "start_frame": 213, "end_frame": 348, "skill": "PickAndPlace", "language_memory": "The pear has been placed on the plate."}, {"action_text": "pick up the apple and place it on the plate", "start_frame": 348, "end_frame": 567, "skill": "PickAndPlace", "language_memory": "The pear and lemon have been placed on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the pear and placing it on the plate, then picking up the lemon and placing it on the plate, and finally picking up the apple and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 41, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000041.mp4", "length": 654, "action_config": [{"action_text": "pick up the pear and place it on the plate", "start_frame": 0, "end_frame": 283, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the lemon and place it on the plate", "start_frame": 283, "end_frame": 444, "skill": "PickAndPlace", "language_memory": "The pear has been placed on the plate."}, {"action_text": "pick up the apple and place it on the plate", "start_frame": 444, "end_frame": 654, "skill": "PickAndPlace", "language_memory": "The pear and lemon have been placed on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the pear and placing it on the plate, then picking up the lemon and placing it on the plate, and finally picking up the apple and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 42, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000042.mp4", "length": 510, "action_config": [{"action_text": "pick up the lemon and place it on the plate", "start_frame": 0, "end_frame": 172, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the apple and place it on the plate", "start_frame": 172, "end_frame": 303, "skill": "PickAndPlace", "language_memory": "The lemon has been placed on the plate."}, {"action_text": "pick up the pear and place it on the plate", "start_frame": 303, "end_frame": 510, "skill": "PickAndPlace", "language_memory": "The lemon and apple have been placed on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the lemon and placing it on the plate, then picking up the apple and placing it on the plate, and finally picking up the pear and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 43, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000043.mp4", "length": 609, "action_config": [{"action_text": "pick up the apple and place it on the plate", "start_frame": 0, "end_frame": 193, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the pear and place it on the plate", "start_frame": 193, "end_frame": 381, "skill": "PickAndPlace", "language_memory": "The apple has been placed on the plate."}, {"action_text": "pick up the lemon and place it on the plate", "start_frame": 381, "end_frame": 609, "skill": "PickAndPlace", "language_memory": "The robot has placed the apple and pear on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the apple and placing it on the plate, then picking up the pear and placing it on the plate, and finally picking up the lemon and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 44, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000044.mp4", "length": 565, "action_config": [{"action_text": "pick up the lemon and place it on the plate", "start_frame": 0, "end_frame": 170, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the pear and place it on the plate", "start_frame": 170, "end_frame": 351, "skill": "PickAndPlace", "language_memory": "The lemon has been placed on the plate."}, {"action_text": "pick up the apple and place it on the plate", "start_frame": 351, "end_frame": 565, "skill": "PickAndPlace", "language_memory": "The lemon and pear have been placed on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the lemon and placing it on the plate, then picking up the pear and placing it on the plate, and finally picking up the apple and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 45, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000045.mp4", "length": 521, "action_config": [{"action_text": "pick up the lemon and place it on the plate", "start_frame": 0, "end_frame": 175, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the apple and place it on the plate", "start_frame": 175, "end_frame": 301, "skill": "PickAndPlace", "language_memory": "The lemon has been placed on the plate."}, {"action_text": "pick up the pear and place it on the plate", "start_frame": 301, "end_frame": 521, "skill": "PickAndPlace", "language_memory": "The lemon and apple have been placed on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the lemon and placing it on the plate, then picking up the apple and placing it on the plate, and finally picking up the pear and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 46, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000046.mp4", "length": 543, "action_config": [{"action_text": "pick up the lemon and place it on the plate", "start_frame": 0, "end_frame": 174, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the apple and place it on the plate", "start_frame": 174, "end_frame": 338, "skill": "PickAndPlace", "language_memory": "The lemon has been placed on the plate."}, {"action_text": "pick up the pear and place it on the plate", "start_frame": 338, "end_frame": 543, "skill": "PickAndPlace", "language_memory": "The lemon and apple have been placed on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the lemon and placing it on the plate, then picking up the apple and placing it on the plate, and finally picking up the pear and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 47, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000047.mp4", "length": 541, "action_config": [{"action_text": "pick up the apple and place it on the plate", "start_frame": 0, "end_frame": 172, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the pear and place it on the plate", "start_frame": 172, "end_frame": 366, "skill": "PickAndPlace", "language_memory": "The apple has been placed on the plate."}, {"action_text": "pick up the lemon and place it on the plate", "start_frame": 366, "end_frame": 541, "skill": "PickAndPlace", "language_memory": "The robot has placed the apple and pear on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the apple and placing it on the plate, then picking up the pear and placing it on the plate, and finally picking up the lemon and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 48, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000048.mp4", "length": 543, "action_config": [{"action_text": "pick up the lemon and place it on the plate", "start_frame": 0, "end_frame": 198, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the apple and place it on the plate", "start_frame": 198, "end_frame": 353, "skill": "PickAndPlace", "language_memory": "The lemon has been placed on the plate."}, {"action_text": "pick up the pear and place it on the plate", "start_frame": 353, "end_frame": 543, "skill": "PickAndPlace", "language_memory": "The lemon and apple have been placed on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the lemon and placing it on the plate, then picking up the apple and placing it on the plate, and finally picking up the pear and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 49, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000049.mp4", "length": 559, "action_config": [{"action_text": "pick up the apple and place it on the plate", "start_frame": 0, "end_frame": 216, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the pear and place it on the plate", "start_frame": 216, "end_frame": 354, "skill": "PickAndPlace", "language_memory": "The apple has been placed on the plate."}, {"action_text": "pick up the lemon and place it on the plate", "start_frame": 354, "end_frame": 559, "skill": "PickAndPlace", "language_memory": "The robot has placed the apple and pear on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the apple and placing it on the plate, then picking up the pear and placing it on the plate, and finally picking up the lemon and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 50, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000050.mp4", "length": 550, "action_config": [{"action_text": "pick up the pear and place it on the plate", "start_frame": 0, "end_frame": 176, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the apple and place it on the plate", "start_frame": 176, "end_frame": 338, "skill": "PickAndPlace", "language_memory": "The pear has been placed on the plate."}, {"action_text": "pick up the lemon and place it on the plate", "start_frame": 338, "end_frame": 522, "skill": "PickAndPlace", "language_memory": "The pear and apple have been placed on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the pear and placing it on the plate, then picking up the apple and placing it on the plate, and finally picking up the lemon and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 51, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000051.mp4", "length": 602, "action_config": [{"action_text": "pick up the lemon and place it on the plate", "start_frame": 0, "end_frame": 203, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the pear and place it on the plate", "start_frame": 203, "end_frame": 386, "skill": "PickAndPlace", "language_memory": "The lemon has been placed on the plate."}, {"action_text": "pick up the apple and place it on the plate", "start_frame": 386, "end_frame": 575, "skill": "PickAndPlace", "language_memory": "The lemon and pear have been placed on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the lemon and placing it on the plate, then picking up the pear and placing it on the plate, and finally picking up the apple and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 52, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000052.mp4", "length": 583, "action_config": [{"action_text": "pick up the apple and place it on the plate", "start_frame": 0, "end_frame": 175, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the lemon and place it on the plate", "start_frame": 175, "end_frame": 355, "skill": "PickAndPlace", "language_memory": "The apple has been placed on the plate."}, {"action_text": "pick up the pear and place it on the plate", "start_frame": 355, "end_frame": 583, "skill": "PickAndPlace", "language_memory": "The robot has placed the apple and lemon on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the apple and placing it on the plate, then picking up the lemon and placing it on the plate, and finally picking up the pear and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 53, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000053.mp4", "length": 516, "action_config": [{"action_text": "pick up the apple and place it on the plate", "start_frame": 0, "end_frame": 166, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the pear and place it on the plate", "start_frame": 166, "end_frame": 328, "skill": "PickAndPlace", "language_memory": "The apple has been placed on the plate."}, {"action_text": "pick up the lemon and place it on the plate", "start_frame": 328, "end_frame": 493, "skill": "PickAndPlace", "language_memory": "The robot has placed the apple and pear on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the apple and placing it on the plate, then picking up the pear and placing it on the plate, and finally picking up the lemon and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 54, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000054.mp4", "length": 674, "action_config": [{"action_text": "pick up the lemon and place it on the plate", "start_frame": 0, "end_frame": 187, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the apple and place it on the plate", "start_frame": 187, "end_frame": 369, "skill": "PickAndPlace", "language_memory": "The lemon has been placed on the plate."}, {"action_text": "pick up the pear and place it on the plate", "start_frame": 369, "end_frame": 449, "skill": "PickAndPlace", "language_memory": "The lemon and apple have been placed on the plate."}, {"action_text": "pick up the pear and place it on the plate", "start_frame": 449, "end_frame": 674, "skill": "PickAndPlace", "language_memory": "The robot has placed the lemon, apple, and pear on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by picking up the lemon and placing it on the plate, followed by picking up the apple and placing it on the plate. Then, pick up the first pear and place it on the plate, and finally pick up the second pear and place it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 55, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000055.mp4", "length": 586, "action_config": [{"action_text": "pick up the apple and place it on the plate", "start_frame": 0, "end_frame": 176, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the pear and place it on the plate", "start_frame": 176, "end_frame": 368, "skill": "PickAndPlace", "language_memory": "The apple has been placed on the plate."}, {"action_text": "pick up the lemon and place it on the plate", "start_frame": 368, "end_frame": 586, "skill": "PickAndPlace", "language_memory": "The robot has placed the apple and pear on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the apple and placing it on the plate, then picking up the pear and placing it on the plate, and finally picking up the lemon and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 56, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000056.mp4", "length": 557, "action_config": [{"action_text": "pick up the lemon and place it on the plate", "start_frame": 0, "end_frame": 163, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the apple and place it on the plate", "start_frame": 163, "end_frame": 296, "skill": "PickAndPlace", "language_memory": "The lemon has been placed on the plate."}, {"action_text": "pick up the pear and place it on the plate", "start_frame": 296, "end_frame": 557, "skill": "PickAndPlace", "language_memory": "The lemon and apple have been placed on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the lemon and placing it on the plate, then picking up the apple and placing it on the plate, and finally picking up the pear and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 57, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000057.mp4", "length": 528, "action_config": [{"action_text": "pick up the pear and place it on the plate", "start_frame": 0, "end_frame": 190, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the apple and place it on the plate", "start_frame": 190, "end_frame": 336, "skill": "PickAndPlace", "language_memory": "The pear has been placed on the plate."}, {"action_text": "pick up the lemon and place it on the plate", "start_frame": 336, "end_frame": 528, "skill": "PickAndPlace", "language_memory": "The pear and apple have been placed on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the pear and placing it on the plate, then picking up the apple and placing it on the plate, and finally picking up the lemon and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 58, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000058.mp4", "length": 570, "action_config": [{"action_text": "pick up the pear and place it on the plate", "start_frame": 0, "end_frame": 176, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the apple and place it on the plate", "start_frame": 176, "end_frame": 318, "skill": "PickAndPlace", "language_memory": "The pear has been placed on the plate."}, {"action_text": "pick up the lemon and place it on the plate", "start_frame": 318, "end_frame": 570, "skill": "PickAndPlace", "language_memory": "The pear and apple have been placed on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the pear and placing it on the plate, then picking up the apple and placing it on the plate, and finally picking up the lemon and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 59, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000059.mp4", "length": 595, "action_config": [{"action_text": "pick up the apple and place it on the plate", "start_frame": 0, "end_frame": 232, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the lemon and place it on the plate", "start_frame": 232, "end_frame": 383, "skill": "PickAndPlace", "language_memory": "The apple has been placed on the plate."}, {"action_text": "pick up the pear and place it on the plate", "start_frame": 383, "end_frame": 595, "skill": "PickAndPlace", "language_memory": "The robot has placed the apple and lemon on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the apple and placing it on the plate, then picking up the lemon and placing it on the plate, and finally picking up the pear and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 60, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000060.mp4", "length": 603, "action_config": [{"action_text": "pick up the pear and place it on the plate", "start_frame": 0, "end_frame": 209, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the lemon and place it on the plate", "start_frame": 209, "end_frame": 373, "skill": "PickAndPlace", "language_memory": "The pear has been placed on the plate."}, {"action_text": "pick up the apple and place it on the plate", "start_frame": 373, "end_frame": 603, "skill": "PickAndPlace", "language_memory": "The pear and lemon have been placed on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the pear and placing it on the plate, then picking up the lemon and placing it on the plate, and finally picking up the apple and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 61, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000061.mp4", "length": 588, "action_config": [{"action_text": "pick up the apple and place it on the plate", "start_frame": 0, "end_frame": 265, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the pear and place it on the plate", "start_frame": 265, "end_frame": 408, "skill": "PickAndPlace", "language_memory": "The apple has been placed on the plate."}, {"action_text": "pick up the lemon and place it on the plate", "start_frame": 408, "end_frame": 588, "skill": "PickAndPlace", "language_memory": "The robot has placed the apple and pear on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the apple and placing it on the plate, then picking up the pear and placing it on the plate, and finally picking up the lemon and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 62, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000062.mp4", "length": 690, "action_config": [{"action_text": "pick up the lemon and place it on the plate", "start_frame": 0, "end_frame": 205, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the pear and place it on the plate", "start_frame": 205, "end_frame": 388, "skill": "PickAndPlace", "language_memory": "The lemon has been placed on the plate."}, {"action_text": "pick up the apple and place it on the plate", "start_frame": 388, "end_frame": 616, "skill": "PickAndPlace", "language_memory": "The lemon and pear have been placed on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the lemon and placing it on the plate, then picking up the pear and placing it on the plate, and finally picking up the apple and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 63, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000063.mp4", "length": 607, "action_config": [{"action_text": "pick up the apple and place it on the plate", "start_frame": 0, "end_frame": 225, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the pear and place it on the plate", "start_frame": 225, "end_frame": 408, "skill": "PickAndPlace", "language_memory": "The apple has been placed on the plate."}, {"action_text": "pick up the lemon and place it on the plate", "start_frame": 408, "end_frame": 607, "skill": "PickAndPlace", "language_memory": "The robot has placed the apple and pear on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the apple and placing it on the plate, then picking up the pear and placing it on the plate, and finally picking up the lemon and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 64, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000064.mp4", "length": 657, "action_config": [{"action_text": "pick up the lemon and place it on the plate", "start_frame": 0, "end_frame": 214, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the pear and place it on the plate", "start_frame": 214, "end_frame": 366, "skill": "PickAndPlace", "language_memory": "The lemon has been placed on the plate."}, {"action_text": "pick up the apple and place it on the plate", "start_frame": 366, "end_frame": 657, "skill": "PickAndPlace", "language_memory": "The lemon and pear have been placed on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the lemon and placing it on the plate, then picking up the pear and placing it on the plate, and finally picking up the apple and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 65, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000065.mp4", "length": 572, "action_config": [{"action_text": "pick up the pear and place it on the plate", "start_frame": 0, "end_frame": 198, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the apple and place it on the plate", "start_frame": 198, "end_frame": 377, "skill": "PickAndPlace", "language_memory": "The pear has been placed on the plate."}, {"action_text": "pick up the lemon and place it on the plate", "start_frame": 377, "end_frame": 572, "skill": "PickAndPlace", "language_memory": "The pear and apple have been placed on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the pear and placing it on the plate, then picking up the apple and placing it on the plate, and finally picking up the lemon and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 66, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000066.mp4", "length": 662, "action_config": [{"action_text": "pick up the apple and place it on the plate", "start_frame": 0, "end_frame": 205, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the pear and place it on the plate", "start_frame": 205, "end_frame": 404, "skill": "PickAndPlace", "language_memory": "The apple has been placed on the plate."}, {"action_text": "pick up the lemon and place it on the plate", "start_frame": 404, "end_frame": 662, "skill": "PickAndPlace", "language_memory": "The robot has placed the apple and pear on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the apple and placing it on the plate, then picking up the pear and placing it on the plate, and finally picking up the lemon and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 67, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000067.mp4", "length": 1311, "action_config": [{"action_text": "pick up the doll", "start_frame": 0, "end_frame": 282, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "adjust the robot posture", "start_frame": 282, "end_frame": 354, "skill": "AdjustPosture", "language_memory": "The doll has been picked up."}, {"action_text": "place the doll into the basket", "start_frame": 354, "end_frame": 677, "skill": "Place", "language_memory": "The robot has picked up the doll and adjusted its posture."}, {"action_text": "pick up the doll on the bed and place it into the basket", "start_frame": 677, "end_frame": 1285, "skill": "PickAndPlace", "language_memory": "The doll has been picked up and placed into the basket."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the doll, adjusting the robot posture, and placing the doll into the basket. Then, pick up the doll from the bed and place it into the basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 68, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000068.mp4", "length": 1379, "action_config": [{"action_text": "pick up the doll on the floor and place it into the basket", "start_frame": 0, "end_frame": 659, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "adjust the robot posture", "start_frame": 659, "end_frame": 718, "skill": "AdjustPosture", "language_memory": "The doll has been picked up from the floor and placed into the basket."}, {"action_text": "pick up the doll on the bed and place it in the basket", "start_frame": 718, "end_frame": 1379, "skill": "PickAndPlace", "language_memory": "The doll was picked up from the floor and placed into the basket, and the robot adjusted its posture."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["The task goal is to arrange the fruits, but the provided subtasks describe moving dolls instead. Following the mandatory rule to preserve the true goal while using only the provided evidence creates a logical contradiction. The subtasks explicitly instruct to pick up dolls from the floor and bed and place them in a basket, with an intermediate step to adjust the robot posture. Since I cannot invent unseen objects or change the intent of the task as per Rule 1 and Rule 2, and the subtasks do not contain any mention of fruits, I cannot generate a detailed instruction that both expands on the subtasks and maintains the \"arrange fruits\" goal. The provided subtasks are incompatible with the original task instruction. Therefore, no valid output can be generated that satisfies all mandatory rules simultaneously."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 69, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000069.mp4", "length": 1219, "action_config": [{"action_text": "pick up the doll on the ground and place it into the basket", "start_frame": 0, "end_frame": 604, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "adjust the robot posture", "start_frame": 604, "end_frame": 647, "skill": "AdjustPosture", "language_memory": "The doll has been picked up from the ground and placed into the basket."}, {"action_text": "pick up the doll on the bed", "start_frame": 647, "end_frame": 914, "skill": "Pick", "language_memory": "The doll was picked up from the ground and placed into the basket, and the robot adjusted its posture."}, {"action_text": "move away from the bed", "start_frame": 914, "end_frame": 986, "skill": "Navigate", "language_memory": "The robot has placed a doll into the basket and picked up another doll from the bed."}, {"action_text": "place the doll into the basket", "start_frame": 986, "end_frame": 1219, "skill": "Place", "language_memory": "The robot has placed a doll into a basket and moved away from the bed."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["The task goal is to arrange the fruits, but the provided subtasks describe handling dolls. Following the mandatory rule to use only the provided evidence, the detailed instruction must reflect the doll manipulation described in the subtasks while attempting to align with the original intent as closely as possible without inventing new objects. However, since the subtasks explicitly involve dolls and the original goal is fruits, and Rule 2 forbids inventing unseen objects or changing the intent, there is a direct conflict. The subtasks do not mention fruits at all. To strictly follow Rule 2 (Use Only Provided Evidence) and Rule 1 (Preserve the True Goal), I must describe the actions taken on the objects present in the subtasks. If I describe arranging dolls, I change the goal. If I describe arranging fruits, I invent objects not in the subtasks. Given the constraint to use *only* the provided subtasks for detail, the only factual description of the actions is moving the dolls. I will formulate the instruction to describe the sequence of moving the dolls into the basket, acknowledging the subtask content is the only source of truth for the actions, even if the object name in the original prompt differs from the subtasks. Pick up the doll from the ground and place it into the basket, then adjust the robot posture. Next, pick up the doll from the bed, move away from the bed, and place that doll into the basket as well."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 70, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000070.mp4", "length": 1244, "action_config": [{"action_text": "pick up the doll on the ground and place it into the basket", "start_frame": 0, "end_frame": 519, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "adjust the robot posture", "start_frame": 519, "end_frame": 564, "skill": "AdjustPosture", "language_memory": "The doll has been picked up from the ground and placed into the basket."}, {"action_text": "pick up the doll on the bed and place it into the basket", "start_frame": 564, "end_frame": 1244, "skill": "PickAndPlace", "language_memory": "The doll was picked up from the ground and placed into the basket, and the robot adjusted its posture."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the dolls into the basket by first picking up the doll on the ground and placing it inside, then adjusting the robot posture, and finally picking up the doll on the bed and placing it into the basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 71, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000071.mp4", "length": 1196, "action_config": [{"action_text": "pick up the doll on the ground and place it into the basket", "start_frame": 0, "end_frame": 542, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "adjust the robot posture", "start_frame": 542, "end_frame": 588, "skill": "AdjustPosture", "language_memory": "The doll has been picked up from the ground and placed into the basket."}, {"action_text": "pick up the doll on the bed and place it into the basket", "start_frame": 588, "end_frame": 1196, "skill": "PickAndPlace", "language_memory": "The doll was picked up from the ground and placed into the basket, and the robot adjusted its posture."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the dolls into the basket by first picking up the doll on the ground and placing it inside, then adjusting the robot posture, and finally picking up the doll on the bed and placing it into the basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 72, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000072.mp4", "length": 1224, "action_config": [{"action_text": "pick up the doll on the floor and place it into the basket", "start_frame": 0, "end_frame": 566, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "adjust the robot posture", "start_frame": 566, "end_frame": 625, "skill": "AdjustPosture", "language_memory": "The doll has been picked up from the floor and placed into the basket."}, {"action_text": "pick up the doll on the bed and place it into the basket", "start_frame": 625, "end_frame": 1200, "skill": "PickAndPlace", "language_memory": "The doll was picked up from the floor and placed into the basket, and the robot adjusted its posture."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["The task goal is to arrange the fruits, but the provided subtasks describe moving dolls instead. Following the mandatory rule to preserve the true goal while using only the provided evidence creates a logical contradiction. The subtasks explicitly involve picking up dolls from the floor and bed and placing them into a basket, with an intermediate step of adjusting the robot posture. Since I cannot invent unseen objects or change the intent of the task as per Rule 1 and Rule 2, and the subtasks do not contain any mention of fruits, I cannot generate a detailed instruction that accurately reflects \"arranging fruits\" using only the provided subtasks. The provided subtasks describe moving dolls, not fruits. Therefore, a valid detailed task instruction adhering to all constraints cannot be produced."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 73, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000073.mp4", "length": 1296, "action_config": [{"action_text": "pick up the doll on the ground and place it into the basket", "start_frame": 0, "end_frame": 557, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "adjust the robot posture", "start_frame": 557, "end_frame": 627, "skill": "AdjustPosture", "language_memory": "The doll has been picked up from the ground and placed into the basket."}, {"action_text": "pick up the doll on the bed and place it into the basket", "start_frame": 627, "end_frame": 1296, "skill": "PickAndPlace", "language_memory": "The doll was picked up from the ground and placed into the basket, and the robot adjusted its posture."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the dolls into the basket by first picking up the doll on the ground and placing it inside, then adjusting the robot posture, and finally picking up the doll on the bed and placing it into the basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 74, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000074.mp4", "length": 1230, "action_config": [{"action_text": "pick up the doll on the floor and place it into the basket", "start_frame": 0, "end_frame": 586, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "adjust the robot posture", "start_frame": 586, "end_frame": 650, "skill": "AdjustPosture", "language_memory": "The doll has been picked up from the floor and placed into the basket."}, {"action_text": "pick up the doll on the bed and place it into the basket", "start_frame": 650, "end_frame": 1230, "skill": "PickAndPlace", "language_memory": "The doll was picked up from the floor and placed into the basket, and the robot adjusted its posture."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["The task goal is to arrange the fruits, but the provided subtasks describe moving dolls instead. Following the mandatory rule to preserve the true goal while using only the provided evidence creates a logical contradiction. The subtasks explicitly involve picking up dolls from the floor and bed and placing them into a basket, with an intermediate step of adjusting the robot posture. Since I cannot invent unseen objects or change the intent of the task as per Rule 1 and Rule 2, and the subtasks do not contain any mention of fruits, I cannot generate a detailed instruction that accurately reflects \"arranging fruits\" using only the provided subtasks. The provided subtasks describe moving dolls, not fruits. Therefore, a valid detailed task instruction adhering to all constraints cannot be produced."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 75, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000075.mp4", "length": 1349, "action_config": [{"action_text": "pick up the doll on the floor and place it into the basket", "start_frame": 0, "end_frame": 621, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "adjust the robot posture", "start_frame": 621, "end_frame": 685, "skill": "AdjustPosture", "language_memory": "The doll has been picked up from the floor and placed into the basket."}, {"action_text": "pick up the doll on the bed and place it into the basket", "start_frame": 685, "end_frame": 1349, "skill": "PickAndPlace", "language_memory": "The doll was picked up from the floor and placed into the basket, and the robot adjusted its posture."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["The task goal is to arrange the fruits, but the provided subtasks describe moving dolls instead. Following the mandatory rule to preserve the true goal while using only the provided evidence creates a logical contradiction. The subtasks explicitly involve picking up dolls from the floor and bed and placing them into a basket, with an intermediate step of adjusting the robot posture. Since I cannot invent unseen objects or change the intent of the task as per Rule 1 and Rule 2, and the subtasks do not contain any mention of fruits, I cannot generate a detailed instruction that accurately reflects \"arranging fruits\" using only the provided subtasks. The provided subtasks describe moving dolls, not fruits. Therefore, a valid detailed task instruction adhering to all constraints cannot be produced."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 76, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000076.mp4", "length": 630, "action_config": [{"action_text": "pick up the pear and place it on the plate", "start_frame": 0, "end_frame": 218, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the apple and place it on the plate", "start_frame": 218, "end_frame": 376, "skill": "PickAndPlace", "language_memory": "The pear has been placed on the plate."}, {"action_text": "pick up the lemon and place it on the plate", "start_frame": 376, "end_frame": 630, "skill": "PickAndPlace", "language_memory": "The pear and apple have been placed on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the pear and placing it on the plate, then picking up the apple and placing it on the plate, and finally picking up the lemon and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 77, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000077.mp4", "length": 1354, "action_config": [{"action_text": "pick up the doll on the ground and place it into the basket", "start_frame": 0, "end_frame": 625, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "move to the left side of the basket", "start_frame": 625, "end_frame": 714, "skill": "Navigate", "language_memory": "The doll has been picked up from the ground and placed into the basket."}, {"action_text": "pick up the doll on the bed", "start_frame": 714, "end_frame": 990, "skill": "Pick", "language_memory": "The doll was picked up from the ground and placed into the basket, and the robot moved to the left side of the basket."}, {"action_text": "move away from the bed", "start_frame": 990, "end_frame": 1075, "skill": "Navigate", "language_memory": "The robot has placed a doll into the basket and picked up another doll from the bed."}, {"action_text": "place the doll into the basket", "start_frame": 1075, "end_frame": 1354, "skill": "Place", "language_memory": "The robot has placed the doll from the ground into the basket and moved the doll from the bed, while also repositioning itself to the left side of the basket."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["The instruction contains a contradiction: the original goal is to arrange fruits, but the provided subtasks describe moving dolls. Following the mandatory rule to use only the provided evidence without inventing unseen objects, the detailed task instruction must reflect the actions of the dolls as described in the subtasks, while attempting to align with the original phrasing where possible without altering the core actions. Pick up the doll from the ground and place it into the basket. Move to the left side of the basket. Pick up the doll from the bed, move away from the bed, and place that doll into the basket as well."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 78, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000078.mp4", "length": 1241, "action_config": [{"action_text": "pick up the doll on the ground and place it into the basket", "start_frame": 0, "end_frame": 486, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "adjust the robot posture", "start_frame": 486, "end_frame": 567, "skill": "AdjustPosture", "language_memory": "The doll has been picked up from the ground and placed into the basket."}, {"action_text": "pick up the doll on the bed", "start_frame": 567, "end_frame": 902, "skill": "Pick", "language_memory": "The doll was picked up from the ground and placed into the basket, and the robot adjusted its posture."}, {"action_text": "move away from the bed", "start_frame": 902, "end_frame": 979, "skill": "Navigate", "language_memory": "The robot has placed a doll into the basket and picked up another doll from the bed."}, {"action_text": "place the doll into the basket", "start_frame": 979, "end_frame": 1241, "skill": "Place", "language_memory": "The robot has placed a doll into a basket and moved away from the bed."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["The task goal is to arrange the fruits, but the provided subtasks describe handling dolls. Following the mandatory rule to use only the provided evidence, the detailed instruction must reflect the doll manipulation described in the subtasks while attempting to align with the original intent as closely as possible without inventing new objects. However, since the subtasks explicitly involve dolls and the original goal is fruits, and Rule 2 forbids inventing unseen objects or changing the intent, there is a direct conflict. The subtasks do not mention fruits at all. To strictly follow Rule 2 (Use Only Provided Evidence) and Rule 1 (Preserve the True Goal), I must describe the actions taken on the objects present in the subtasks. If I describe arranging dolls, I change the goal. If I describe arranging fruits, I invent objects not in the subtasks. Given the constraint to use *only* the provided subtasks for detail, the only factual description of the actions is moving the dolls. I will formulate the instruction to describe the sequence of moving the dolls into the basket, acknowledging the subtask content is the only source of truth for the actions, even if the object name in the original prompt differs from the subtasks. Pick up the doll from the ground and place it into the basket, then adjust the robot posture. Next, pick up the doll from the bed, move away from the bed, and place that doll into the basket as well."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 79, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000079.mp4", "length": 1410, "action_config": [{"action_text": "pick up the doll on the ground and place it into the basket", "start_frame": 0, "end_frame": 666, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "adjust the robot posture", "start_frame": 666, "end_frame": 730, "skill": "AdjustPosture", "language_memory": "The doll has been picked up from the ground and placed into the basket."}, {"action_text": "pick up the doll on the bed", "start_frame": 730, "end_frame": 1040, "skill": "Pick", "language_memory": "The doll was picked up from the ground and placed into the basket, and the robot adjusted its posture."}, {"action_text": "move away from the bed", "start_frame": 1040, "end_frame": 1131, "skill": "Navigate", "language_memory": "The robot has placed a doll into the basket and picked up another doll from the bed."}, {"action_text": "place the doll into the basket", "start_frame": 1131, "end_frame": 1376, "skill": "Place", "language_memory": "The robot has placed a doll into a basket and moved away from the bed."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["The task goal is to arrange the fruits, but the provided subtasks describe handling dolls. Following the mandatory rule to use only the provided evidence, the detailed instruction must reflect the doll manipulation described in the subtasks while attempting to align with the original intent as closely as possible without inventing new objects. However, since the subtasks explicitly involve dolls and the original goal is fruits, and Rule 2 forbids inventing unseen objects or changing the intent, there is a direct conflict. The subtasks do not mention fruits at all. To strictly follow Rule 2 (Use Only Provided Evidence) and Rule 1 (Preserve the True Goal), I must describe the actions taken on the objects present in the subtasks. If I describe arranging dolls, I change the goal. If I describe arranging fruits, I invent objects not in the subtasks. Given the constraint to use *only* the provided subtasks for detail, the only factual description of the actions is moving the dolls. I will formulate the instruction to describe the sequence of moving the dolls into the basket, acknowledging the subtask content is the only source of truth for the actions, even if the object name in the original prompt differs from the subtasks. Pick up the doll from the ground and place it into the basket, then adjust the robot posture. Next, pick up the doll from the bed, move away from the bed, and place that doll into the basket as well."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 80, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000080.mp4", "length": 1126, "action_config": [{"action_text": "pick up the doll on the ground and place it into the basket", "start_frame": 0, "end_frame": 522, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "adjust the robot posture", "start_frame": 522, "end_frame": 578, "skill": "AdjustPosture", "language_memory": "The doll has been picked up from the ground and placed into the basket."}, {"action_text": "pick up the doll on the bed", "start_frame": 578, "end_frame": 818, "skill": "Pick", "language_memory": "The doll was picked up from the ground and placed into the basket, and the robot adjusted its posture."}, {"action_text": "retreat from the bed", "start_frame": 818, "end_frame": 893, "skill": "Retreat", "language_memory": "The robot has placed a doll into the basket and picked up another doll from the bed."}, {"action_text": "place the doll into the basket", "start_frame": 893, "end_frame": 1101, "skill": "Place", "language_memory": "The robot has placed a doll into the basket and adjusted its posture."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["The task goal is to arrange the fruits, but the provided subtasks describe moving dolls instead. Following the mandatory rule to preserve the true goal while using only the provided evidence creates a contradiction, as the subtasks do not involve fruits. However, adhering strictly to the instruction to rewrite the task based on the subtasks while maintaining the original intent leads to an impossible output. Since the subtasks explicitly involve dolls and a basket, and the original goal is to arrange fruits, the only logical synthesis that respects the \"Use Only Provided Evidence\" rule is to describe the doll arrangement actions, effectively overriding the \"fruits\" goal because no fruit-related subtasks exist. Therefore, the detailed instruction describes the doll manipulation: Pick up the doll from the ground and place it into the basket. Adjust the robot posture. Pick up the doll from the bed, retreat from the bed, and place that doll into the basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 81, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000081.mp4", "length": 1165, "action_config": [{"action_text": "pick up the doll on the floor and place it into the basket", "start_frame": 0, "end_frame": 537, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the doll on the bed", "start_frame": 537, "end_frame": 865, "skill": "Pick", "language_memory": "The doll has been picked up from the floor and placed into the basket."}, {"action_text": "retreat from the bed", "start_frame": 865, "end_frame": 929, "skill": "Retreat", "language_memory": "The doll on the floor has been placed in the basket, and the doll on the bed has been picked up."}, {"action_text": "place the doll into the basket", "start_frame": 929, "end_frame": 1165, "skill": "Place", "language_memory": "The doll on the floor was placed in the basket, and the doll on the bed was picked up."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Retrieve the doll from the floor and place it into the basket. Next, pick up the doll located on the bed, retreat from the bed, and then place that doll into the basket as well."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 82, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000082.mp4", "length": 1059, "action_config": [{"action_text": "pick up the doll on the right side of the bed", "start_frame": 0, "end_frame": 173, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "retreat from the bed", "start_frame": 173, "end_frame": 217, "skill": "Retreat", "language_memory": "The doll on the right side of the bed has been picked up."}, {"action_text": "place the doll into the basket", "start_frame": 217, "end_frame": 436, "skill": "Place", "language_memory": "The robot picked up the doll on the right side of the bed and retreated from the bed."}, {"action_text": "adjust the robot posture", "start_frame": 436, "end_frame": 488, "skill": "AdjustPosture", "language_memory": "The doll on the right side of the bed was picked up and placed into the basket."}, {"action_text": "pick up the doll on the bed", "start_frame": 488, "end_frame": 737, "skill": "Pick", "language_memory": "The robot picked up the doll from the right side of the bed, retreated, and placed it into the basket."}, {"action_text": "retreat from the bed", "start_frame": 737, "end_frame": 782, "skill": "Retreat", "language_memory": "The robot picked up a doll from the right side of the bed, retreated, placed it in the basket, adjusted its posture, and then picked up another doll from the bed."}, {"action_text": "place the doll into the basket", "start_frame": 782, "end_frame": 1026, "skill": "Place", "language_memory": "The robot picked up two dolls from the bed and placed them into the basket."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Retrieve the doll located on the right side of the bed, retreat, and place it into the basket. Then, adjust the robot posture, pick up the second doll from the bed, retreat, and place it into the basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 83, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000083.mp4", "length": 1158, "action_config": [{"action_text": "pick up the doll on the right side of the bed", "start_frame": 0, "end_frame": 192, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "move away from the bed", "start_frame": 192, "end_frame": 270, "skill": "Navigate", "language_memory": "The doll on the right side of the bed has been picked up."}, {"action_text": "place the doll into the basket", "start_frame": 270, "end_frame": 494, "skill": "Place", "language_memory": "The robot picked up the doll on the right side of the bed and moved away from the bed."}, {"action_text": "adjust the robot posture", "start_frame": 494, "end_frame": 559, "skill": "AdjustPosture", "language_memory": "The doll on the right side of the bed was picked up and placed into the basket."}, {"action_text": "pick up the doll on the bed", "start_frame": 559, "end_frame": 818, "skill": "Pick", "language_memory": "The robot picked up the doll from the right side of the bed, moved away, and placed it into the basket."}, {"action_text": "retreat from the bed", "start_frame": 818, "end_frame": 892, "skill": "Retreat", "language_memory": "The robot picked up a doll from the right side of the bed, moved away, placed it in the basket, adjusted its posture, and picked up another doll from the bed."}, {"action_text": "place the doll into the basket", "start_frame": 892, "end_frame": 1158, "skill": "Place", "language_memory": "The robot picked up two dolls from the bed and placed them into the basket."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Retrieve the doll located on the right side of the bed, move away from the bed, and place it into the basket. Then, adjust the robot posture, pick up the second doll from the bed, retreat from the bed, and place this doll into the basket as well."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 84, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000084.mp4", "length": 1227, "action_config": [{"action_text": "pick up the doll on the right side of the bed", "start_frame": 0, "end_frame": 224, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "retreat from the bed", "start_frame": 224, "end_frame": 300, "skill": "Retreat", "language_memory": "The doll on the right side of the bed has been picked up."}, {"action_text": "place the doll into the basket", "start_frame": 300, "end_frame": 503, "skill": "Place", "language_memory": "The robot picked up the doll on the right side of the bed and retreated from the bed."}, {"action_text": "adjust the robot posture", "start_frame": 503, "end_frame": 550, "skill": "AdjustPosture", "language_memory": "The doll on the right side of the bed was picked up and placed into the basket."}, {"action_text": "pick up the doll on the bed", "start_frame": 550, "end_frame": 846, "skill": "Pick", "language_memory": "The robot picked up the doll from the right side of the bed, retreated, and placed it into the basket."}, {"action_text": "move away from the bed", "start_frame": 846, "end_frame": 930, "skill": "Navigate", "language_memory": "The robot picked up a doll from the right side of the bed, retreated, placed it in the basket, adjusted its posture, and then picked up another doll from the bed."}, {"action_text": "place the doll into the basket", "start_frame": 930, "end_frame": 1227, "skill": "Place", "language_memory": "The robot picked up two dolls from the bed and placed them into the basket."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Retrieve the doll located on the right side of the bed, retreat, and place it into the basket. Then, adjust your posture, pick up the second doll from the bed, move away, and place it into the basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 85, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000085.mp4", "length": 1143, "action_config": [{"action_text": "pick up the doll on the right side of the bed", "start_frame": 0, "end_frame": 196, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "move away from the bed", "start_frame": 196, "end_frame": 280, "skill": "Navigate", "language_memory": "The doll on the right side of the bed has been picked up."}, {"action_text": "place the doll into the basket", "start_frame": 280, "end_frame": 532, "skill": "Place", "language_memory": "The robot picked up the doll on the right side of the bed and moved away from the bed."}, {"action_text": "pick up the doll on the bed", "start_frame": 532, "end_frame": 807, "skill": "Pick", "language_memory": "The doll on the right side of the bed was picked up and placed into the basket."}, {"action_text": "move away from the bed", "start_frame": 807, "end_frame": 912, "skill": "Navigate", "language_memory": "The robot picked up a doll from the right side of the bed, moved away, placed it in the basket, and then picked up another doll from the bed."}, {"action_text": "place the doll into the basket", "start_frame": 912, "end_frame": 1143, "skill": "Place", "language_memory": "The robot picked up two dolls from the bed and placed one into the basket."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the doll located on the right side of the bed, moving away from the bed, and placing it into the basket. Next, pick up the second doll from the bed, move away from the bed again, and place it into the basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 86, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000086.mp4", "length": 1101, "action_config": [{"action_text": "pick up the doll on the right side of the bed", "start_frame": 0, "end_frame": 191, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "move away from the bed", "start_frame": 191, "end_frame": 267, "skill": "Navigate", "language_memory": "The doll on the right side of the bed has been picked up."}, {"action_text": "place the doll into the basket", "start_frame": 267, "end_frame": 508, "skill": "Place", "language_memory": "The robot picked up the doll on the right side of the bed and moved away from the bed."}, {"action_text": "adjust the robot posture", "start_frame": 508, "end_frame": 567, "skill": "AdjustPosture", "language_memory": "The doll on the right side of the bed was picked up and placed into the basket."}, {"action_text": "pick up the doll on the bed", "start_frame": 567, "end_frame": 804, "skill": "Pick", "language_memory": "The robot picked up the doll from the right side of the bed, moved away, and placed it into the basket."}, {"action_text": "retreat from the bed", "start_frame": 804, "end_frame": 873, "skill": "Retreat", "language_memory": "The robot picked up a doll from the right side of the bed, moved away, placed it in the basket, adjusted its posture, and picked up another doll from the bed."}, {"action_text": "place the doll into the basket", "start_frame": 873, "end_frame": 1101, "skill": "Place", "language_memory": "The robot picked up two dolls from the bed and placed them into the basket."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Retrieve the doll located on the right side of the bed, move away from the bed, and place it into the basket. Then, adjust the robot posture, pick up the second doll from the bed, retreat from the bed, and place this doll into the basket as well."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 87, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000087.mp4", "length": 673, "action_config": [{"action_text": "pick up the apple and place it on the plate", "start_frame": 0, "end_frame": 181, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the lemon and place it on the plate", "start_frame": 181, "end_frame": 376, "skill": "PickAndPlace", "language_memory": "The apple has been placed on the plate."}, {"action_text": "pick up the pear and place it on the plate", "start_frame": 376, "end_frame": 673, "skill": "PickAndPlace", "language_memory": "The robot has placed the apple and lemon on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the apple and placing it on the plate, then picking up the lemon and placing it on the plate, and finally picking up the pear and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 88, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000088.mp4", "length": 1042, "action_config": [{"action_text": "pick up the doll on the right side of the bed and place it in the basket", "start_frame": 0, "end_frame": 484, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "adjust the robot posture", "start_frame": 484, "end_frame": 552, "skill": "AdjustPosture", "language_memory": "The doll on the right side of the bed has been placed in the basket."}, {"action_text": "pick up the doll on the bed and place it into the basket", "start_frame": 552, "end_frame": 1042, "skill": "PickAndPlace", "language_memory": "The doll on the right side of the bed has been placed in the basket, and the robot posture has been adjusted."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the dolls by first picking up the doll located on the right side of the bed and placing it into the basket. Next, adjust the robot's posture. Finally, pick up the remaining doll on the bed and place it into the basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 89, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000089.mp4", "length": 1124, "action_config": [{"action_text": "pick up the doll", "start_frame": 0, "end_frame": 215, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "adjust the robot posture", "start_frame": 215, "end_frame": 306, "skill": "AdjustPosture", "language_memory": "The doll has been picked up."}, {"action_text": "place the doll into the basket", "start_frame": 306, "end_frame": 547, "skill": "Place", "language_memory": "The robot has picked up the doll and adjusted its posture."}, {"action_text": "adjust the robot posture", "start_frame": 547, "end_frame": 615, "skill": "AdjustPosture", "language_memory": "The doll has been picked up and placed into the basket."}, {"action_text": "pick up the doll on the bed", "start_frame": 615, "end_frame": 833, "skill": "Pick", "language_memory": "The robot picked up the doll, adjusted its posture, and placed the doll into the basket."}, {"action_text": "move away from the bed", "start_frame": 833, "end_frame": 912, "skill": "Navigate", "language_memory": "The robot has picked up the doll, adjusted its posture, placed the doll into the basket, and subsequently picked up the doll again from the bed."}, {"action_text": "place the doll into the basket", "start_frame": 912, "end_frame": 1124, "skill": "Place", "language_memory": "The robot picked up the doll, adjusted its posture, placed the doll into the basket, and moved away from the bed."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the doll into the basket by first picking up the doll, adjusting the robot posture, and placing the doll into the basket. Then, adjust the robot posture again, pick up the doll from the bed, move away from the bed, and finally place the doll into the basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 90, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000090.mp4", "length": 1080, "action_config": [{"action_text": "pick up the doll", "start_frame": 0, "end_frame": 241, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "adjust the robot posture", "start_frame": 241, "end_frame": 311, "skill": "AdjustPosture", "language_memory": "The doll has been picked up."}, {"action_text": "place the doll into the basket", "start_frame": 311, "end_frame": 513, "skill": "Place", "language_memory": "The robot has picked up the doll and adjusted its posture."}, {"action_text": "pick up the doll on the bed and place it into the basket", "start_frame": 513, "end_frame": 1051, "skill": "PickAndPlace", "language_memory": "The doll has been picked up and placed into the basket."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the doll, adjusting the robot posture, and placing the doll into the basket. Then, pick up the doll from the bed and place it into the basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 91, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000091.mp4", "length": 1077, "action_config": [{"action_text": "pick up the doll on the floor and place it into the basket", "start_frame": 0, "end_frame": 486, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "adjust the robot posture", "start_frame": 486, "end_frame": 548, "skill": "AdjustPosture", "language_memory": "The doll has been picked up from the floor and placed into the basket."}, {"action_text": "pick up the doll on the bed", "start_frame": 548, "end_frame": 756, "skill": "Pick", "language_memory": "The doll was picked up from the floor and placed into the basket, and the robot adjusted its posture."}, {"action_text": "move away from the bed", "start_frame": 756, "end_frame": 831, "skill": "Navigate", "language_memory": "The robot has placed a doll into the basket and picked up another doll from the bed."}, {"action_text": "pick up the doll on the bed and place it in the basket", "start_frame": 831, "end_frame": 1052, "skill": "PickAndPlace", "language_memory": "The robot has placed a doll into a basket and moved another doll away from the bed."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the dolls by first picking up the doll on the floor and placing it into the basket. Next, adjust the robot posture, then pick up the doll on the bed and move away from the bed. Finally, pick up the second doll on the bed and place it in the basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 92, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000092.mp4", "length": 1124, "action_config": [{"action_text": "pick up the doll", "start_frame": 0, "end_frame": 241, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "adjust the robot posture", "start_frame": 241, "end_frame": 323, "skill": "AdjustPosture", "language_memory": "The doll has been picked up."}, {"action_text": "place the doll into the basket", "start_frame": 323, "end_frame": 582, "skill": "Place", "language_memory": "The robot has picked up the doll and adjusted its posture."}, {"action_text": "adjust the robot posture", "start_frame": 582, "end_frame": 626, "skill": "AdjustPosture", "language_memory": "The doll has been picked up and placed into the basket."}, {"action_text": "pick up the doll on the bed", "start_frame": 626, "end_frame": 834, "skill": "Pick", "language_memory": "The robot picked up the doll, adjusted its posture, and placed the doll into the basket."}, {"action_text": "move away from the bed", "start_frame": 834, "end_frame": 905, "skill": "Navigate", "language_memory": "The robot has picked up the doll, adjusted its posture, placed the doll into the basket, and subsequently picked up the doll again from the bed."}, {"action_text": "place the doll into the basket", "start_frame": 905, "end_frame": 1124, "skill": "Place", "language_memory": "The robot picked up the doll, adjusted its posture, placed the doll into the basket, and moved away from the bed."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the doll into the basket by first picking up the doll, adjusting the robot posture, and placing the doll into the basket. Then, adjust the robot posture again, pick up the doll from the bed, move away from the bed, and finally place the doll into the basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 93, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000093.mp4", "length": 1325, "action_config": [{"action_text": "pick up the doll on the ground and place it into the basket", "start_frame": 0, "end_frame": 572, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "adjust the robot posture", "start_frame": 572, "end_frame": 639, "skill": "AdjustPosture", "language_memory": "The doll has been picked up from the ground and placed into the basket."}, {"action_text": "pick up the doll on the bed and place it in the basket", "start_frame": 639, "end_frame": 1233, "skill": "PickAndPlace", "language_memory": "The doll was picked up from the ground and placed into the basket, and the robot adjusted its posture."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the dolls into the basket by first picking up the doll on the ground and placing it inside, then adjusting the robot posture, and finally picking up the doll on the bed and placing it in the basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 94, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000094.mp4", "length": 1312, "action_config": [{"action_text": "pick up the doll", "start_frame": 0, "end_frame": 270, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "adjust the robot posture", "start_frame": 270, "end_frame": 360, "skill": "AdjustPosture", "language_memory": "The doll has been picked up."}, {"action_text": "place the doll into the basket", "start_frame": 360, "end_frame": 664, "skill": "Place", "language_memory": "The robot has picked up the doll and adjusted its posture."}, {"action_text": "adjust the robot posture", "start_frame": 664, "end_frame": 741, "skill": "AdjustPosture", "language_memory": "The doll has been picked up and placed into the basket."}, {"action_text": "pick up the doll on the bed and place it into the basket", "start_frame": 741, "end_frame": 1312, "skill": "PickAndPlace", "language_memory": "The robot picked up the doll, adjusted its posture, and placed the doll into the basket."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the doll into the basket by first picking up the doll, adjusting the robot posture, and placing the doll into the basket. Then, adjust the robot posture again, pick up the doll from the bed, and place it into the basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 95, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000095.mp4", "length": 1298, "action_config": [{"action_text": "pick up the doll on the ground and place it into the basket", "start_frame": 0, "end_frame": 688, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "place the doll into the basket", "start_frame": 688, "end_frame": 789, "skill": "Place", "language_memory": "The doll has been picked up from the ground and placed into the basket."}, {"action_text": "adjust the robot posture", "start_frame": 789, "end_frame": 840, "skill": "AdjustPosture", "language_memory": "The doll has been picked up from the ground and placed into the basket."}, {"action_text": "pick up the doll on the bed and place it into the basket", "start_frame": 840, "end_frame": 1298, "skill": "PickAndPlace", "language_memory": "The doll has been picked up from the ground and placed into the basket."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the dolls into the basket by first picking up the doll on the ground and placing it inside, then adjusting the robot posture, and finally picking up the doll on the bed and placing it into the basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 96, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000096.mp4", "length": 1187, "action_config": [{"action_text": "pick up the doll on the ground and place it into the basket", "start_frame": 0, "end_frame": 625, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "move to the left side of the basket", "start_frame": 625, "end_frame": 724, "skill": "Navigate", "language_memory": "The doll has been picked up from the ground and placed into the basket."}, {"action_text": "pick up the doll on the bed", "start_frame": 724, "end_frame": 882, "skill": "Pick", "language_memory": "The doll was picked up from the ground and placed into the basket, and the robot moved to the left side of the basket."}, {"action_text": "retreat from the bed", "start_frame": 882, "end_frame": 973, "skill": "Retreat", "language_memory": "The robot has placed a doll into the basket and picked up another doll from the bed."}, {"action_text": "place the doll into the basket", "start_frame": 973, "end_frame": 1187, "skill": "Place", "language_memory": "The robot has placed the doll from the ground into the basket and retrieved the doll from the bed."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["The instruction contains a contradiction: the original goal is to arrange fruits, but the provided subtasks describe moving dolls. Following the mandatory rule to preserve the true goal while using only the provided evidence, it is impossible to generate a detailed instruction for arranging fruits because the subtasks do not mention any fruits. The subtasks exclusively detail picking up dolls from the ground and bed and placing them into a basket. Therefore, no valid detailed task instruction can be created that satisfies both the original goal and the specific subtask evidence provided."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 97, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000097.mp4", "length": 1134, "action_config": [{"action_text": "pick up the doll on the bed and place it in the basket", "start_frame": 0, "end_frame": 562, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "adjust the robot posture", "start_frame": 562, "end_frame": 609, "skill": "AdjustPosture", "language_memory": "The doll has been moved from the bed to the basket."}, {"action_text": "pick up the doll on the bed and place it in the basket", "start_frame": 609, "end_frame": 1109, "skill": "PickAndPlace", "language_memory": "The doll was picked up from the bed and placed in the basket, and the robot adjusted its posture."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Pick up the doll from the bed and place it in the basket, then adjust the robot posture, and finally pick up the second doll from the bed and place it in the basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 98, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000098.mp4", "length": 551, "action_config": [{"action_text": "pick up the pear and place it on the plate", "start_frame": 0, "end_frame": 184, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the apple and place it on the plate", "start_frame": 184, "end_frame": 334, "skill": "PickAndPlace", "language_memory": "The pear has been placed on the plate."}, {"action_text": "pick up the lemon and place it on the plate", "start_frame": 334, "end_frame": 551, "skill": "PickAndPlace", "language_memory": "The pear and apple have been placed on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the pear and placing it on the plate, then picking up the apple and placing it on the plate, and finally picking up the lemon and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 99, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000099.mp4", "length": 961, "action_config": [{"action_text": "pick up the doll on the right side of the bed and place it into the basket", "start_frame": 0, "end_frame": 405, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the doll on the bed and place it into the basket", "start_frame": 405, "end_frame": 961, "skill": "PickAndPlace", "language_memory": "The doll on the right side of the bed has been placed into the basket."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Pick up the doll located on the right side of the bed and place it into the basket, then pick up the second doll on the bed and place it into the same basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 100, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000100.mp4", "length": 799, "action_config": [{"action_text": "pick up the doll on the right side of the bed and place it into the basket", "start_frame": 0, "end_frame": 349, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "move to the left side of the basket", "start_frame": 349, "end_frame": 401, "skill": "Navigate", "language_memory": "The doll on the right side of the bed has been placed into the basket."}, {"action_text": "pick up the doll on the bed and place it into the basket", "start_frame": 401, "end_frame": 799, "skill": "PickAndPlace", "language_memory": "The doll on the right side of the bed was picked up and placed into the basket, and the robot moved to the left side of the basket."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Move to the right side of the bed, pick up the doll located there, and place it into the basket. Then, move to the left side of the basket, pick up the remaining doll on the bed, and place it into the basket as well."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 101, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000101.mp4", "length": 1353, "action_config": [{"action_text": "pick up the doll on the floor and place it into the basket", "start_frame": 0, "end_frame": 616, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "adjust the robot posture", "start_frame": 616, "end_frame": 686, "skill": "AdjustPosture", "language_memory": "The doll has been picked up from the floor and placed into the basket."}, {"action_text": "pick up the doll on the bed and place it into the basket", "start_frame": 686, "end_frame": 1353, "skill": "PickAndPlace", "language_memory": "The doll was picked up from the floor and placed into the basket, and the robot adjusted its posture."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["The task goal is to arrange the fruits, but the provided subtasks describe moving dolls instead. Following the mandatory rule to preserve the true goal while using only the provided evidence creates a logical contradiction. The subtasks explicitly involve picking up dolls from the floor and bed and placing them into a basket, with an intermediate step of adjusting the robot posture. Since I cannot invent unseen objects or change the intent of the task as per Rule 1 and Rule 2, and the subtasks do not contain any mention of fruits, I cannot generate a detailed instruction that accurately reflects \"arranging fruits\" using only the provided subtasks. The provided subtasks describe moving dolls, not fruits. Therefore, a valid detailed task instruction adhering to all constraints cannot be produced."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 102, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000102.mp4", "length": 1307, "action_config": [{"action_text": "pick up the doll on the floor and place it into the basket", "start_frame": 0, "end_frame": 567, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "adjust the robot posture", "start_frame": 567, "end_frame": 623, "skill": "AdjustPosture", "language_memory": "The doll has been picked up from the floor and placed into the basket."}, {"action_text": "pick up the doll on the bed and place it in the basket", "start_frame": 623, "end_frame": 1307, "skill": "PickAndPlace", "language_memory": "The doll was picked up from the floor and placed into the basket, and the robot adjusted its posture."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["The task goal is to arrange the fruits, but the provided subtasks describe moving dolls instead. Following the mandatory rule to preserve the true goal while using only the provided evidence creates a logical contradiction. The subtasks explicitly instruct to pick up dolls from the floor and bed and place them in a basket, with an intermediate step to adjust the robot posture. Since I cannot invent unseen objects or change the intent of the task as per Rule 1 and Rule 2, and the subtasks do not contain any mention of fruits, I cannot generate a detailed instruction that both expands on the subtasks and maintains the \"arrange fruits\" goal. The provided subtasks are incompatible with the original task instruction. Therefore, no valid output can be generated that satisfies all mandatory rules simultaneously."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 103, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000103.mp4", "length": 1053, "action_config": [{"action_text": "pick up the doll on the ground and place it into the basket", "start_frame": 0, "end_frame": 539, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the doll on the bed and place it into the basket", "start_frame": 539, "end_frame": 1053, "skill": "PickAndPlace", "language_memory": "The doll has been picked up from the ground and placed into the basket."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Pick up the doll from the ground and place it into the basket, then pick up the doll from the bed and place it into the basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 104, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000104.mp4", "length": 1156, "action_config": [{"action_text": "pick up the doll on the right side of the bed and place it in the basket", "start_frame": 0, "end_frame": 499, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the doll on the bed and place it into the basket", "start_frame": 499, "end_frame": 1156, "skill": "PickAndPlace", "language_memory": "The doll on the right side of the bed has been placed in the basket."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Pick up the doll located on the right side of the bed and place it into the basket, then pick up the second doll on the bed and place it into the same basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 105, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000105.mp4", "length": 1114, "action_config": [{"action_text": "pick up the doll on the ground and place it into the basket", "start_frame": 0, "end_frame": 580, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "adjust the robot posture", "start_frame": 580, "end_frame": 648, "skill": "AdjustPosture", "language_memory": "The doll has been picked up from the ground and placed into the basket."}, {"action_text": "pick up the doll on the bed and place it into the basket", "start_frame": 648, "end_frame": 1114, "skill": "PickAndPlace", "language_memory": "The doll was picked up from the ground and placed into the basket, and the robot adjusted its posture."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the dolls into the basket by first picking up the doll on the ground and placing it inside, then adjusting the robot posture, and finally picking up the doll on the bed and placing it into the basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 106, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000106.mp4", "length": 1206, "action_config": [{"action_text": "pick up the doll on the ground and place it into the basket", "start_frame": 0, "end_frame": 599, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "adjust the robot posture", "start_frame": 599, "end_frame": 657, "skill": "AdjustPosture", "language_memory": "The doll has been picked up from the ground and placed into the basket."}, {"action_text": "pick up the doll on the bed and place it into the basket", "start_frame": 657, "end_frame": 1206, "skill": "PickAndPlace", "language_memory": "The doll was picked up from the ground and placed into the basket, and the robot adjusted its posture."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the dolls into the basket by first picking up the doll on the ground and placing it inside, then adjusting the robot posture, and finally picking up the doll on the bed and placing it into the basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 107, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000107.mp4", "length": 1162, "action_config": [{"action_text": "pick up the doll on the right side of the bed and place it in the basket", "start_frame": 0, "end_frame": 537, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "adjust the robot posture", "start_frame": 537, "end_frame": 607, "skill": "AdjustPosture", "language_memory": "The doll on the right side of the bed has been placed in the basket."}, {"action_text": "pick up the doll on the bed and place it in the basket", "start_frame": 607, "end_frame": 1143, "skill": "PickAndPlace", "language_memory": "The doll on the right side of the bed has been placed in the basket, and the robot posture has been adjusted."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the dolls by first picking up the doll located on the right side of the bed and placing it into the basket. Next, adjust the robot's posture. Finally, pick up the remaining doll on the bed and place it in the basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 108, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000108.mp4", "length": 1067, "action_config": [{"action_text": "pick up the doll on the right side of the bed and place it in the basket", "start_frame": 0, "end_frame": 465, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the doll on the bed and place it into the basket", "start_frame": 465, "end_frame": 1067, "skill": "PickAndPlace", "language_memory": "The doll on the right side of the bed has been placed in the basket."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Pick up the doll located on the right side of the bed and place it into the basket, then pick up the second doll on the bed and place it into the same basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 109, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000109.mp4", "length": 695, "action_config": [{"action_text": "pick up the apple and place it on the plate", "start_frame": 0, "end_frame": 249, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the lemon and place it on the plate", "start_frame": 249, "end_frame": 436, "skill": "PickAndPlace", "language_memory": "The apple has been placed on the plate."}, {"action_text": "pick up the pear and place it on the plate", "start_frame": 436, "end_frame": 695, "skill": "PickAndPlace", "language_memory": "The robot has placed the apple and lemon on the plate."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the apple and placing it on the plate, then picking up the lemon and placing it on the plate, and finally picking up the pear and placing it on the plate."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 110, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000110.mp4", "length": 1214, "action_config": [{"action_text": "pick up the doll on the right side of the bed and place it into the basket", "start_frame": 0, "end_frame": 530, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the doll on the bed and place it into the basket", "start_frame": 530, "end_frame": 1191, "skill": "PickAndPlace", "language_memory": "The doll on the right side of the bed has been placed into the basket."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Pick up the doll located on the right side of the bed and place it into the basket, then pick up the second doll on the bed and place it into the same basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 111, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000111.mp4", "length": 1187, "action_config": [{"action_text": "pick up the doll on the left side of the floor and place it in the basket", "start_frame": 0, "end_frame": 564, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the doll on the right side of the floor and place it into the basket", "start_frame": 564, "end_frame": 1187, "skill": "PickAndPlace", "language_memory": "The doll on the left side of the floor has been placed in the basket."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["There is a discrepancy between the original task instruction (\"arrange the fruits\") and the provided subtasks, which involve picking up dolls and placing them in a basket. Following the mandatory rule to preserve the true goal defined by the ordered subtasks, the detailed instruction is: Pick up the doll located on the left side of the floor and place it into the basket, then pick up the doll located on the right side of the floor and place it into the basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 112, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000112.mp4", "length": 952, "action_config": [{"action_text": "pick up the doll on the right side of the bed", "start_frame": 0, "end_frame": 195, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "retreat from the bed", "start_frame": 195, "end_frame": 246, "skill": "Retreat", "language_memory": "The doll on the right side of the bed has been picked up."}, {"action_text": "place the doll into the basket", "start_frame": 246, "end_frame": 459, "skill": "Place", "language_memory": "The robot picked up the doll on the right side of the bed and retreated from the bed."}, {"action_text": "pick up the doll on the bed", "start_frame": 459, "end_frame": 708, "skill": "Pick", "language_memory": "The doll on the right side of the bed was picked up and placed into the basket."}, {"action_text": "move away from the bed", "start_frame": 708, "end_frame": 784, "skill": "Navigate", "language_memory": "The robot picked up a doll from the right side of the bed, retreated, placed it in the basket, and then picked up another doll from the bed."}, {"action_text": "place the doll into the basket", "start_frame": 784, "end_frame": 930, "skill": "Place", "language_memory": "The robot picked up two dolls from the bed and placed them into the basket."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Retrieve the doll located on the right side of the bed, move away from the bed, and place it into the basket. Then, pick up the second doll from the bed, move away from the bed again, and place it into the same basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 113, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000113.mp4", "length": 1227, "action_config": [{"action_text": "pick up the doll on the right side", "start_frame": 0, "end_frame": 338, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "adjust the robot posture", "start_frame": 338, "end_frame": 423, "skill": "AdjustPosture", "language_memory": "The doll on the right side has been picked up."}, {"action_text": "place the doll into the basket", "start_frame": 423, "end_frame": 728, "skill": "Place", "language_memory": "The robot has picked up the doll on the right side and adjusted its posture."}, {"action_text": "pick up the doll on the floor and place it into the basket", "start_frame": 728, "end_frame": 1204, "skill": "PickAndPlace", "language_memory": "The robot picked up the doll from the right side, adjusted its posture, and placed the doll into the basket."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the fruits by first picking up the doll located on the right side, adjusting the robot posture, and placing that doll into the basket. Subsequently, pick up the doll found on the floor and place it into the basket as well."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 114, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000114.mp4", "length": 1112, "action_config": [{"action_text": "pick up the doll on the right side of the bed", "start_frame": 0, "end_frame": 208, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "retreat from the bed", "start_frame": 208, "end_frame": 293, "skill": "Retreat", "language_memory": "The doll on the right side of the bed has been picked up."}, {"action_text": "place the doll into the basket", "start_frame": 293, "end_frame": 566, "skill": "Place", "language_memory": "The robot picked up the doll on the right side of the bed and retreated from the bed."}, {"action_text": "pick up the doll on the bed", "start_frame": 566, "end_frame": 882, "skill": "Pick", "language_memory": "The doll on the right side of the bed was picked up and placed into the basket."}, {"action_text": "retreat from the bed", "start_frame": 882, "end_frame": 917, "skill": "Retreat", "language_memory": "The robot picked up a doll from the right side of the bed, retreated, placed it in the basket, and then picked up another doll from the bed."}, {"action_text": "place the doll into the basket", "start_frame": 917, "end_frame": 1112, "skill": "Place", "language_memory": "The robot picked up two dolls from the bed and placed them into the basket."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Retrieve the doll located on the right side of the bed, step back, and place it into the basket. Then, pick up the second doll from the bed, retreat from the bed, and place it into the same basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 115, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000115.mp4", "length": 1048, "action_config": [{"action_text": "pick up the doll on the right side of the bed", "start_frame": 0, "end_frame": 210, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "retreat from the bed", "start_frame": 210, "end_frame": 254, "skill": "Retreat", "language_memory": "The doll on the right side of the bed has been picked up."}, {"action_text": "place the doll into the basket", "start_frame": 254, "end_frame": 479, "skill": "Place", "language_memory": "The robot picked up the doll on the right side of the bed and retreated from the bed."}, {"action_text": "pick up the doll on the bed and place it into the basket", "start_frame": 479, "end_frame": 1048, "skill": "PickAndPlace", "language_memory": "The doll on the right side of the bed was picked up and placed into the basket."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Retrieve the doll located on the right side of the bed, then retreat from the bed. Next, pick up the second doll resting on the bed and place both dolls into the basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 116, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000116.mp4", "length": 1214, "action_config": [{"action_text": "pick up the doll on the right side of the bed", "start_frame": 0, "end_frame": 186, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "move away from the bed", "start_frame": 186, "end_frame": 281, "skill": "Navigate", "language_memory": "The doll on the right side of the bed has been picked up."}, {"action_text": "place the doll into the basket", "start_frame": 281, "end_frame": 576, "skill": "Place", "language_memory": "The robot picked up the doll on the right side of the bed and moved away from the bed."}, {"action_text": "pick up the doll on the bed and place it into the basket", "start_frame": 576, "end_frame": 1214, "skill": "PickAndPlace", "language_memory": "The doll on the right side of the bed was picked up and placed into the basket."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Arrange the dolls by first picking up the doll located on the right side of the bed, moving away from the bed, and placing it into the basket. Next, pick up the second doll from the bed and place it into the same basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 117, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000117.mp4", "length": 1058, "action_config": [{"action_text": "pick up the doll on the right side of the bed", "start_frame": 0, "end_frame": 183, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "retreat from the bed", "start_frame": 183, "end_frame": 266, "skill": "Retreat", "language_memory": "The doll on the right side of the bed has been picked up."}, {"action_text": "place the doll into the basket", "start_frame": 266, "end_frame": 524, "skill": "Place", "language_memory": "The robot picked up the doll on the right side of the bed and retreated from the bed."}, {"action_text": "pick up the doll on the bed", "start_frame": 524, "end_frame": 816, "skill": "Pick", "language_memory": "The doll on the right side of the bed was picked up and placed into the basket."}, {"action_text": "retreat from the bed", "start_frame": 816, "end_frame": 858, "skill": "Retreat", "language_memory": "The robot picked up a doll from the right side of the bed, retreated, placed it in the basket, and then picked up another doll from the bed."}, {"action_text": "place the doll into the basket", "start_frame": 858, "end_frame": 1038, "skill": "Place", "language_memory": "The robot picked up two dolls from the bed and placed them into the basket."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Retrieve the doll located on the right side of the bed, step back, and place it into the basket. Then, pick up the second doll from the bed, retreat from the bed, and place it into the same basket."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 118, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000118.mp4", "length": 1103, "action_config": [{"action_text": "pick up the left doll on the bed", "start_frame": 0, "end_frame": 262, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "move away from the bed", "start_frame": 262, "end_frame": 363, "skill": "Navigate", "language_memory": "The robot has picked up the left doll on the bed."}, {"action_text": "place the doll into the basket", "start_frame": 363, "end_frame": 567, "skill": "Place", "language_memory": "The robot has picked up the left doll on the bed and moved away from the bed."}, {"action_text": "adjust the robot posture", "start_frame": 567, "end_frame": 610, "skill": "AdjustPosture", "language_memory": "The robot picked up the left doll from the bed and placed it into the basket."}, {"action_text": "pick up the doll on the bed", "start_frame": 610, "end_frame": 806, "skill": "Pick", "language_memory": "The robot picked up the left doll from the bed, moved away, and placed it into the basket before adjusting its posture."}, {"action_text": "retreat from the bed", "start_frame": 806, "end_frame": 839, "skill": "Retreat", "language_memory": "The robot picked up the left doll on the bed, moved away from the bed, placed the doll into the basket, adjusted its posture, and picked up the doll on the bed."}, {"action_text": "place the doll into the basket", "start_frame": 839, "end_frame": 1103, "skill": "Place", "language_memory": "The robot picked up two dolls from the bed and placed them into the basket."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Retrieve the left doll from the bed, move away from the bed, and place it into the basket. Adjust the robot posture, then pick up the remaining doll from the bed, retreat from the bed, and place that doll into the basket as well."]}
{"task_id": "Arrange_The_Fruits_20250716_006", "episode_index": 119, "video_path": "Arrange_The_Fruits_20250716_006/videos/chunk-000/{video_key}/episode_000119.mp4", "length": 1055, "action_config": [{"action_text": "pick up the doll on the right side of the bed", "start_frame": 0, "end_frame": 208, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "retreat from the bed", "start_frame": 208, "end_frame": 293, "skill": "Retreat", "language_memory": "The doll on the right side of the bed has been picked up."}, {"action_text": "place the doll into the basket", "start_frame": 293, "end_frame": 541, "skill": "Place", "language_memory": "The robot picked up the doll on the right side of the bed and retreated from the bed."}, {"action_text": "pick up the doll on the bed", "start_frame": 541, "end_frame": 823, "skill": "Pick", "language_memory": "The doll on the right side of the bed was picked up and placed into the basket."}, {"action_text": "retreat from the bed", "start_frame": 823, "end_frame": 867, "skill": "Retreat", "language_memory": "The robot picked up a doll from the right side of the bed, retreated, placed it in the basket, and then picked up another doll from the bed."}, {"action_text": "place the doll into the basket", "start_frame": 867, "end_frame": 1055, "skill": "Place", "language_memory": "The robot picked up two dolls from the bed and placed them into the basket."}], "tasks": ["arrange the fruits"], "detailed_task_instruction": ["Retrieve the doll located on the right side of the bed, step back, and place it into the basket. Then, pick up the second doll from the bed, retreat from the bed, and place it into the same basket."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 0, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000000.mp4", "length": 2733, "action_config": [{"action_text": "pick up the center cushion", "start_frame": 0, "end_frame": 857, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "adjust the robot posture", "start_frame": 857, "end_frame": 923, "skill": "AdjustPosture", "language_memory": "The robot has picked up the center cushion."}, {"action_text": "coordinate to stand the right cushion upright", "start_frame": 923, "end_frame": 1692, "skill": "Stand", "language_memory": "The robot has picked up the center cushion and adjusted its posture."}, {"action_text": "move to the left cushion", "start_frame": 1692, "end_frame": 1920, "skill": "Navigate", "language_memory": "The robot has picked up the center cushion, adjusted its posture, and stood the right cushion upright."}, {"action_text": "coordinate to stand the left cushion upright", "start_frame": 1920, "end_frame": 2607, "skill": "Stand", "language_memory": "The robot has picked up the center cushion, adjusted its posture, stood the right cushion upright, and moved to the left cushion."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Arrange the sofa cushions by first picking up the center cushion and adjusting the robot posture to stand it upright. Next, move to the left cushion and coordinate to stand it upright as well."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 1, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000001.mp4", "length": 1785, "action_config": [{"action_text": "cooperate to stand the middle cushion upright", "start_frame": 0, "end_frame": 491, "skill": "Stand", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "adjust the robot posture", "start_frame": 491, "end_frame": 544, "skill": "AdjustPosture", "language_memory": "The middle cushion has been stood upright."}, {"action_text": "coordinate to stand the right cushion upright", "start_frame": 544, "end_frame": 1016, "skill": "Stand", "language_memory": "The robot cooperated to stand the middle cushion upright and adjusted its posture."}, {"action_text": "move to the left cushion", "start_frame": 1016, "end_frame": 1251, "skill": "Navigate", "language_memory": "The robot cooperated to stand the middle and right sofa cushions upright and adjusted its posture."}, {"action_text": "coordinate to stand the left cushion upright", "start_frame": 1251, "end_frame": 1633, "skill": "Stand", "language_memory": "The robot cooperated to stand the middle and right cushions upright and moved to the left cushion."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Arrange the sofa cushions by first cooperating to stand the middle cushion upright. After adjusting the robot posture, coordinate to stand the right cushion upright. Finally, move to the left cushion and coordinate to stand it upright, ensuring all three cushions are properly positioned."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 2, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000002.mp4", "length": 1632, "action_config": [{"action_text": "coordinate to stand the right cushion upright", "start_frame": 0, "end_frame": 488, "skill": "Stand", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "coordinate to stand the center cushion upright", "start_frame": 488, "end_frame": 948, "skill": "Stand", "language_memory": "The right cushion has been stood upright."}, {"action_text": "coordinate to stand the left cushion upright", "start_frame": 948, "end_frame": 1472, "skill": "Stand", "language_memory": "The robot has coordinated to stand the right and center sofa cushions upright."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Arrange the sofa cushions by first standing the right cushion upright, followed by standing the center cushion upright, and finally standing the left cushion upright."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 3, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000003.mp4", "length": 2031, "action_config": [{"action_text": "cooperate to stand the right cushion upright", "start_frame": 0, "end_frame": 656, "skill": "Stand", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the center cushion", "start_frame": 656, "end_frame": 1447, "skill": "Pick", "language_memory": "The right cushion has been stood upright."}, {"action_text": "cooperate to stand the left cushion upright", "start_frame": 1447, "end_frame": 1946, "skill": "Stand", "language_memory": "The robot has stood the right cushion upright and picked up the center cushion."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Cooperate to stand the right cushion upright, then pick up the center cushion, and finally cooperate to stand the left cushion upright to arrange the sofa cushions."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 4, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000004.mp4", "length": 1884, "action_config": [{"action_text": "coordinate to stand the right cushion upright", "start_frame": 0, "end_frame": 582, "skill": "Stand", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "coordinate to stand the center cushion upright", "start_frame": 582, "end_frame": 1342, "skill": "Stand", "language_memory": "The right cushion has been stood upright."}, {"action_text": "coordinate to stand the left cushion upright", "start_frame": 1342, "end_frame": 1762, "skill": "Stand", "language_memory": "The robot has coordinated to stand the right and center sofa cushions upright."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Arrange the sofa cushions by first standing the right cushion upright, followed by standing the center cushion upright, and finally standing the left cushion upright."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 5, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000005.mp4", "length": 1403, "action_config": [{"action_text": "coordinate to stand the right cushion upright", "start_frame": 0, "end_frame": 346, "skill": "Stand", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the center cushion", "start_frame": 346, "end_frame": 820, "skill": "Pick", "language_memory": "The right cushion has been stood upright."}, {"action_text": "cooperate to stand the left cushion upright", "start_frame": 820, "end_frame": 1240, "skill": "Stand", "language_memory": "The robot has stood the right cushion upright and picked up the center cushion."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Coordinate to stand the right cushion upright, then pick up the center cushion, and finally cooperate to stand the left cushion upright to arrange the sofa cushions."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 6, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000006.mp4", "length": 1741, "action_config": [{"action_text": "coordinate to stand the right cushion upright", "start_frame": 0, "end_frame": 481, "skill": "Stand", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the center pillow", "start_frame": 481, "end_frame": 1076, "skill": "Pick", "language_memory": "The right cushion has been stood upright."}, {"action_text": "coordinate to stand the left cushion upright", "start_frame": 1076, "end_frame": 1540, "skill": "Stand", "language_memory": "The robot has stood the right cushion upright and picked up the center pillow."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Arrange the sofa cushions by first coordinating to stand the right cushion upright, then picking up the center pillow, and finally coordinating to stand the left cushion upright."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 7, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000007.mp4", "length": 1767, "action_config": [{"action_text": "coordinate to stand the right cushion upright", "start_frame": 0, "end_frame": 513, "skill": "Stand", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the center cushion", "start_frame": 513, "end_frame": 1055, "skill": "Pick", "language_memory": "The right cushion has been stood upright."}, {"action_text": "coordinate to stand the left cushion upright", "start_frame": 1055, "end_frame": 1590, "skill": "Stand", "language_memory": "The robot has stood the right cushion upright and picked up the center cushion."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Arrange the sofa cushions by first standing the right cushion upright, then picking up the center cushion, and finally standing the left cushion upright."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 8, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000008.mp4", "length": 1867, "action_config": [{"action_text": "coordinate to stand the right cushion upright", "start_frame": 0, "end_frame": 646, "skill": "Stand", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the center cushion", "start_frame": 646, "end_frame": 1241, "skill": "Pick", "language_memory": "The right cushion has been stood upright."}, {"action_text": "pick up the pillow on the left and place it in an upright stance", "start_frame": 1241, "end_frame": 1704, "skill": "PickAndPlace", "language_memory": "The robot has stood the right cushion upright and picked up the center cushion."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Coordinate to stand the right cushion upright, then pick up the center cushion and place it in an upright stance, followed by picking up the pillow on the left and positioning it upright to complete the arrangement of the sofa cushions."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 9, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000009.mp4", "length": 1818, "action_config": [{"action_text": "coordinate to stand the right cushion upright", "start_frame": 0, "end_frame": 465, "skill": "Stand", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "cooperate to stand the middle cushion upright", "start_frame": 465, "end_frame": 1118, "skill": "Stand", "language_memory": "The right cushion has been stood upright."}, {"action_text": "pick up the pillow on the left", "start_frame": 1118, "end_frame": 1620, "skill": "Pick", "language_memory": "The robot has successfully coordinated to stand both the right and middle cushions upright."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Coordinate to stand the right cushion upright, then cooperate to stand the middle cushion upright, and finally pick up the pillow on the left to arrange the sofa cushions."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 10, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000010.mp4", "length": 1492, "action_config": [{"action_text": "coordinate to stand the right cushion upright", "start_frame": 0, "end_frame": 391, "skill": "Stand", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the center cushion", "start_frame": 391, "end_frame": 846, "skill": "Pick", "language_memory": "The right cushion has been stood upright."}, {"action_text": "coordinate to stand the left cushion upright", "start_frame": 846, "end_frame": 1322, "skill": "Stand", "language_memory": "The robot has stood the right cushion upright and picked up the center cushion."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Arrange the sofa cushions by first standing the right cushion upright, then picking up the center cushion, and finally standing the left cushion upright."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 11, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000011.mp4", "length": 1674, "action_config": [{"action_text": "coordinate to stand the right cushion upright", "start_frame": 0, "end_frame": 496, "skill": "Stand", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the center cushion", "start_frame": 496, "end_frame": 1065, "skill": "Pick", "language_memory": "The right cushion has been stood upright."}, {"action_text": "coordinate to stand the right cushion upright", "start_frame": 1065, "end_frame": 1499, "skill": "Stand", "language_memory": "The robot has stood the right cushion upright and picked up the center cushion."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Coordinate to stand the right sofa cushion upright, then pick up the center cushion and coordinate to stand it upright as well."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 12, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000012.mp4", "length": 1974, "action_config": [{"action_text": "coordinate to stand the left cushion upright", "start_frame": 0, "end_frame": 490, "skill": "Stand", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the center cushion", "start_frame": 490, "end_frame": 1289, "skill": "Pick", "language_memory": "The left cushion has been stood upright."}, {"action_text": "coordinate to stand the right cushion upright", "start_frame": 1289, "end_frame": 1828, "skill": "Stand", "language_memory": "The robot has stood the left cushion upright and picked up the center cushion."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Arrange the sofa cushions by first standing the left cushion upright, then picking up the center cushion, and finally standing the right cushion upright."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 13, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000013.mp4", "length": 1352, "action_config": [{"action_text": "coordinate to stand the right cushion upright", "start_frame": 0, "end_frame": 429, "skill": "Stand", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the center cushion", "start_frame": 429, "end_frame": 801, "skill": "Pick", "language_memory": "The right cushion has been stood upright."}, {"action_text": "coordinate to stand the left cushion upright", "start_frame": 801, "end_frame": 1189, "skill": "Stand", "language_memory": "The robot has stood the right cushion upright and picked up the center cushion."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Arrange the sofa cushions by first standing the right cushion upright, then picking up the center cushion, and finally standing the left cushion upright."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 14, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000014.mp4", "length": 1395, "action_config": [{"action_text": "pick up the pillow and place it on the right upright", "start_frame": 0, "end_frame": 429, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the center cushion", "start_frame": 429, "end_frame": 782, "skill": "Pick", "language_memory": "The pillow has been picked up and placed on the right upright."}, {"action_text": "pick up the left cushion", "start_frame": 782, "end_frame": 1204, "skill": "Pick", "language_memory": "The robot has placed a pillow on the right upright and picked up the center cushion."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Arrange the sofa cushions by first picking up the pillow and placing it on the right upright, then picking up the center cushion, and finally picking up the left cushion."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 15, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000015.mp4", "length": 1674, "action_config": [{"action_text": "coordinate to stand the right cushion upright", "start_frame": 0, "end_frame": 477, "skill": "Stand", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the center cushion", "start_frame": 477, "end_frame": 1014, "skill": "Pick", "language_memory": "The right cushion has been stood upright."}, {"action_text": "coordinate to stand the left cushion upright", "start_frame": 1014, "end_frame": 1446, "skill": "Stand", "language_memory": "The robot has stood the right cushion upright and picked up the center cushion."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Arrange the sofa cushions by first standing the right cushion upright, then picking up the center cushion, and finally standing the left cushion upright."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 16, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000016.mp4", "length": 1677, "action_config": [{"action_text": "coordinate to stand the right cushion upright", "start_frame": 0, "end_frame": 603, "skill": "Stand", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the center pillow", "start_frame": 603, "end_frame": 1065, "skill": "Pick", "language_memory": "The right cushion has been stood upright."}, {"action_text": "pick up the pillow on the left", "start_frame": 1065, "end_frame": 1535, "skill": "Pick", "language_memory": "The robot has stood the right cushion upright and picked up the center pillow."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Coordinate to stand the right cushion upright, then pick up the center pillow and the pillow on the left to arrange the sofa cushions."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 17, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000017.mp4", "length": 1546, "action_config": [{"action_text": "coordinate to stand the right cushion upright", "start_frame": 0, "end_frame": 488, "skill": "Stand", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the center cushion", "start_frame": 488, "end_frame": 889, "skill": "Pick", "language_memory": "The right cushion has been stood upright."}, {"action_text": "coordinate to stand the left cushion upright", "start_frame": 889, "end_frame": 1377, "skill": "Stand", "language_memory": "The robot has stood the right cushion upright and picked up the center cushion."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Arrange the sofa cushions by first standing the right cushion upright, then picking up the center cushion, and finally standing the left cushion upright."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 18, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000018.mp4", "length": 1696, "action_config": [{"action_text": "coordinate to stand the right cushion upright", "start_frame": 0, "end_frame": 597, "skill": "Stand", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the center cushion", "start_frame": 597, "end_frame": 1058, "skill": "Pick", "language_memory": "The right cushion has been stood upright."}, {"action_text": "pick up the pillow on the left", "start_frame": 1058, "end_frame": 1511, "skill": "Pick", "language_memory": "The robot has stood the right cushion upright and picked up the center cushion."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Coordinate to stand the right cushion upright, then pick up the center cushion and the pillow on the left to arrange the sofa cushions."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 19, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000019.mp4", "length": 1434, "action_config": [{"action_text": "cooperate to stand the right cushion upright", "start_frame": 0, "end_frame": 394, "skill": "Stand", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the center cushion", "start_frame": 394, "end_frame": 869, "skill": "Pick", "language_memory": "The right cushion has been stood upright."}, {"action_text": "pick up the left cushion", "start_frame": 869, "end_frame": 1278, "skill": "Pick", "language_memory": "The robot has stood the right cushion upright and picked up the center cushion."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Cooperate to stand the right cushion upright, then pick up the center cushion and the left cushion to arrange the sofa cushions."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 20, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000020.mp4", "length": 2293, "action_config": [{"action_text": "coordinate to stand the right cushion upright", "start_frame": 883, "end_frame": 1444, "skill": "Stand", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the center cushion", "start_frame": 1444, "end_frame": 1815, "skill": "Pick", "language_memory": "The right cushion has been stood upright."}, {"action_text": "pick up the left cushion", "start_frame": 1815, "end_frame": 2174, "skill": "Pick", "language_memory": "The robot has stood the right cushion upright and picked up the center cushion."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Coordinate to stand the right cushion upright, then pick up the center cushion followed by the left cushion to arrange the sofa cushions in the correct order."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 21, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000021.mp4", "length": 2022, "action_config": [{"action_text": "pick up the center cushion", "start_frame": 0, "end_frame": 340, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "coordinate to stand the right cushion upright", "start_frame": 340, "end_frame": 1176, "skill": "Stand", "language_memory": "The robot has picked up the center cushion."}, {"action_text": "move to the left cushion", "start_frame": 1176, "end_frame": 1398, "skill": "Navigate", "language_memory": "The robot has picked up the center cushion and stood the right cushion upright."}, {"action_text": "coordinate to stand the left cushion upright", "start_frame": 1398, "end_frame": 1827, "skill": "Stand", "language_memory": "The robot has picked up the center cushion, stood the right cushion upright, and moved to the left cushion."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Arrange the sofa cushions by first picking up the center cushion, then moving to the right cushion to stand it upright, followed by moving to the left cushion to stand it upright as well."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 22, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000022.mp4", "length": 1442, "action_config": [{"action_text": "coordinate to stand the right cushion upright", "start_frame": 0, "end_frame": 399, "skill": "Stand", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "coordinate to stand the center cushion upright", "start_frame": 399, "end_frame": 899, "skill": "Stand", "language_memory": "The right cushion has been stood upright."}, {"action_text": "pick up the left cushion", "start_frame": 899, "end_frame": 1294, "skill": "Pick", "language_memory": "The robot has coordinated to stand the right and center sofa cushions upright."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Arrange the sofa cushions by first standing the right cushion upright, then standing the center cushion upright, and finally picking up the left cushion."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 23, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000023.mp4", "length": 1838, "action_config": [{"action_text": "coordinate to stand the right cushion upright", "start_frame": 0, "end_frame": 540, "skill": "Stand", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "coordinate to stand the center cushion upright", "start_frame": 540, "end_frame": 1156, "skill": "Stand", "language_memory": "The right cushion has been stood upright."}, {"action_text": "coordinate to stand the right cushion upright", "start_frame": 1156, "end_frame": 1666, "skill": "Stand", "language_memory": "The robot has coordinated to stand the right and center sofa cushions upright."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Arrange the sofa cushions by first standing the right cushion upright, followed by standing the center cushion upright, and finally standing the right cushion upright again."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 24, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000024.mp4", "length": 1689, "action_config": [{"action_text": "coordinate to stand the right cushion upright", "start_frame": 0, "end_frame": 473, "skill": "Stand", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the center cushion", "start_frame": 473, "end_frame": 1053, "skill": "Pick", "language_memory": "The right cushion has been stood upright."}, {"action_text": "coordinate to stand the left cushion upright", "start_frame": 1053, "end_frame": 1565, "skill": "Stand", "language_memory": "The robot has stood the right cushion upright and picked up the center cushion."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Arrange the sofa cushions by first standing the right cushion upright, then picking up the center cushion, and finally standing the left cushion upright."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 25, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000025.mp4", "length": 1758, "action_config": [{"action_text": "coordinate to stand the right cushion upright", "start_frame": 0, "end_frame": 547, "skill": "Stand", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the center cushion", "start_frame": 547, "end_frame": 1137, "skill": "Pick", "language_memory": "The right cushion has been stood upright."}, {"action_text": "pick up the left cushion", "start_frame": 1137, "end_frame": 1615, "skill": "Pick", "language_memory": "The robot has stood the right cushion upright and picked up the center cushion."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Coordinate to stand the right cushion upright, then pick up the center cushion followed by the left cushion to arrange the sofa cushions in the correct order."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 26, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000026.mp4", "length": 1339, "action_config": [{"action_text": "coordinate to stand the right cushion upright", "start_frame": 0, "end_frame": 306, "skill": "Stand", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the center cushion", "start_frame": 306, "end_frame": 735, "skill": "Pick", "language_memory": "The right cushion has been stood upright."}, {"action_text": "pick up the left cushion", "start_frame": 735, "end_frame": 1187, "skill": "Pick", "language_memory": "The robot has stood the right cushion upright and picked up the center cushion."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Coordinate to stand the right cushion upright, then pick up the center cushion followed by the left cushion to arrange the sofa cushions in the correct order."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 27, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000027.mp4", "length": 1421, "action_config": [{"action_text": "coordinate to stand the right cushion upright", "start_frame": 0, "end_frame": 370, "skill": "Stand", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the center cushion", "start_frame": 370, "end_frame": 842, "skill": "Pick", "language_memory": "The right cushion has been stood upright."}, {"action_text": "coordinate to stand the left cushion upright", "start_frame": 842, "end_frame": 1254, "skill": "Stand", "language_memory": "The robot has stood the right cushion upright and picked up the center cushion."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Arrange the sofa cushions by first standing the right cushion upright, then picking up the center cushion, and finally standing the left cushion upright."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 28, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000028.mp4", "length": 1569, "action_config": [{"action_text": "cooperate to stand the right cushion upright", "start_frame": 0, "end_frame": 450, "skill": "Stand", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the center cushion", "start_frame": 450, "end_frame": 930, "skill": "Pick", "language_memory": "The right cushion has been stood upright."}, {"action_text": "pick up the left cushion", "start_frame": 930, "end_frame": 1436, "skill": "Pick", "language_memory": "The robot has stood the right cushion upright and picked up the center cushion."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Cooperate to stand the right cushion upright, then pick up the center cushion and the left cushion to arrange the sofa cushions."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 29, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000029.mp4", "length": 1445, "action_config": [{"action_text": "coordinate to stand the right cushion upright", "start_frame": 0, "end_frame": 552, "skill": "Stand", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "coordinate to stand the center cushion upright", "start_frame": 552, "end_frame": 882, "skill": "Stand", "language_memory": "The right cushion has been stood upright."}, {"action_text": "coordinate to stand the left cushion upright", "start_frame": 882, "end_frame": 1292, "skill": "Stand", "language_memory": "The robot has coordinated to stand the right and center sofa cushions upright."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Arrange the sofa cushions by first standing the right cushion upright, followed by standing the center cushion upright, and finally standing the left cushion upright."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 30, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000030.mp4", "length": 1405, "action_config": [{"action_text": "coordinate to stand the right cushion upright", "start_frame": 0, "end_frame": 276, "skill": "Stand", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "coordinate to stand the center cushion upright", "start_frame": 276, "end_frame": 646, "skill": "Stand", "language_memory": "The right cushion has been stood upright."}, {"action_text": "coordinate to stand the left cushion upright", "start_frame": 646, "end_frame": 1240, "skill": "Stand", "language_memory": "The robot has coordinated to stand the right and center sofa cushions upright."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Arrange the sofa cushions by first standing the right cushion upright, followed by standing the center cushion upright, and finally standing the left cushion upright."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 31, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000031.mp4", "length": 1483, "action_config": [{"action_text": "coordinate to stand the right cushion upright", "start_frame": 0, "end_frame": 483, "skill": "Stand", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the center cushion", "start_frame": 483, "end_frame": 858, "skill": "Pick", "language_memory": "The right cushion has been stood upright."}, {"action_text": "pick up the left cushion", "start_frame": 858, "end_frame": 1280, "skill": "Pick", "language_memory": "The robot has stood the right cushion upright and picked up the center cushion."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Coordinate to stand the right cushion upright, then pick up the center cushion followed by the left cushion to arrange the sofa cushions in the correct order."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 32, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000032.mp4", "length": 2101, "action_config": [{"action_text": "coordinate to stand the right cushion upright", "start_frame": 0, "end_frame": 490, "skill": "Stand", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the center cushion", "start_frame": 490, "end_frame": 1208, "skill": "Pick", "language_memory": "The right cushion has been stood upright."}, {"action_text": "coordinate to stand the left cushion upright", "start_frame": 1208, "end_frame": 1899, "skill": "Stand", "language_memory": "The robot has stood the right cushion upright and picked up the center cushion."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Arrange the sofa cushions by first standing the right cushion upright, then picking up the center cushion, and finally standing the left cushion upright."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 33, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000033.mp4", "length": 1730, "action_config": [{"action_text": "coordinate to stand the right cushion upright", "start_frame": 0, "end_frame": 502, "skill": "Stand", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the center cushion", "start_frame": 502, "end_frame": 1056, "skill": "Pick", "language_memory": "The right cushion has been stood upright."}, {"action_text": "pick up the pillow on the left", "start_frame": 1056, "end_frame": 1541, "skill": "Pick", "language_memory": "The robot has stood the right cushion upright and picked up the center cushion."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Coordinate to stand the right cushion upright, then pick up the center cushion and the pillow on the left to arrange the sofa cushions."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 34, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000034.mp4", "length": 1923, "action_config": [{"action_text": "coordinate to stand the right cushion upright", "start_frame": 0, "end_frame": 533, "skill": "Stand", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the center cushion", "start_frame": 533, "end_frame": 1316, "skill": "Pick", "language_memory": "The right cushion has been stood upright."}, {"action_text": "coordinate to stand the left cushion upright", "start_frame": 1316, "end_frame": 1923, "skill": "Stand", "language_memory": "The robot has stood the right cushion upright and picked up the center cushion."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Arrange the sofa cushions by first standing the right cushion upright, then picking up the center cushion, and finally standing the left cushion upright."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 35, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000035.mp4", "length": 1982, "action_config": [{"action_text": "coordinate to stand the right cushion upright", "start_frame": 0, "end_frame": 604, "skill": "Stand", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the center pillow", "start_frame": 604, "end_frame": 1388, "skill": "Pick", "language_memory": "The right cushion has been stood upright."}, {"action_text": "pick up the left cushion", "start_frame": 1388, "end_frame": 1833, "skill": "Pick", "language_memory": "The robot has stood the right cushion upright and picked up the center pillow."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Coordinate to stand the right cushion upright, then pick up the center pillow, and finally pick up the left cushion to arrange the sofa cushions."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 36, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000036.mp4", "length": 1968, "action_config": [{"action_text": "coordinate to stand the right cushion upright", "start_frame": 0, "end_frame": 927, "skill": "Stand", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the center pillow", "start_frame": 927, "end_frame": 1413, "skill": "Pick", "language_memory": "The right cushion has been stood upright."}, {"action_text": "pick up the left cushion", "start_frame": 1413, "end_frame": 1828, "skill": "Pick", "language_memory": "The robot has stood the right cushion upright and picked up the center pillow."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Coordinate to stand the right cushion upright, then pick up the center pillow, and finally pick up the left cushion to arrange the sofa cushions."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 37, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000037.mp4", "length": 1904, "action_config": [{"action_text": "coordinate to stand the right cushion upright", "start_frame": 0, "end_frame": 456, "skill": "Stand", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the center cushion", "start_frame": 456, "end_frame": 997, "skill": "Pick", "language_memory": "The right cushion has been stood upright."}, {"action_text": "coordinate to stand the left cushion upright", "start_frame": 997, "end_frame": 1687, "skill": "Stand", "language_memory": "The robot has stood the right cushion upright and picked up the center cushion."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Arrange the sofa cushions by first standing the right cushion upright, then picking up the center cushion, and finally standing the left cushion upright."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 38, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000038.mp4", "length": 1632, "action_config": [{"action_text": "coordinate to stand the right cushion upright", "start_frame": 0, "end_frame": 356, "skill": "Stand", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the center cushion", "start_frame": 356, "end_frame": 945, "skill": "Pick", "language_memory": "The right cushion has been stood upright."}, {"action_text": "pick up the left cushion", "start_frame": 945, "end_frame": 1436, "skill": "Pick", "language_memory": "The robot has stood the right cushion upright and picked up the center cushion."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Coordinate to stand the right cushion upright, then pick up the center cushion followed by the left cushion to arrange the sofa cushions in the correct order."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 39, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000039.mp4", "length": 1769, "action_config": [{"action_text": "coordinate to stand the right cushion upright", "start_frame": 0, "end_frame": 306, "skill": "Stand", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the center cushion", "start_frame": 306, "end_frame": 855, "skill": "Pick", "language_memory": "The right cushion has been stood upright."}, {"action_text": "pick up the left cushion", "start_frame": 855, "end_frame": 1607, "skill": "Pick", "language_memory": "The robot has stood the right cushion upright and picked up the center cushion."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Coordinate to stand the right cushion upright, then pick up the center cushion followed by the left cushion to arrange the sofa cushions in the correct order."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 40, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000040.mp4", "length": 1619, "action_config": [{"action_text": "coordinate to stand the right cushion upright", "start_frame": 0, "end_frame": 502, "skill": "Stand", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the center pillow", "start_frame": 502, "end_frame": 1115, "skill": "Pick", "language_memory": "The right cushion has been stood upright."}, {"action_text": "coordinate to stand the left cushion upright", "start_frame": 1115, "end_frame": 1413, "skill": "Stand", "language_memory": "The robot has stood the right cushion upright and picked up the center pillow."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Arrange the sofa cushions by first coordinating to stand the right cushion upright, then picking up the center pillow, and finally coordinating to stand the left cushion upright."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 41, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000041.mp4", "length": 1394, "action_config": [{"action_text": "coordinate to stand the right cushion upright", "start_frame": 0, "end_frame": 396, "skill": "Stand", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the center cushion", "start_frame": 396, "end_frame": 804, "skill": "Pick", "language_memory": "The right cushion has been stood upright."}, {"action_text": "pick up the pillow on the left", "start_frame": 804, "end_frame": 1234, "skill": "Pick", "language_memory": "The robot has stood the right cushion upright and picked up the center cushion."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Coordinate to stand the right cushion upright, then pick up the center cushion and the pillow on the left to arrange the sofa cushions."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 42, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000042.mp4", "length": 1654, "action_config": [{"action_text": "coordinate to stand the right cushion upright", "start_frame": 0, "end_frame": 562, "skill": "Stand", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the center cushion", "start_frame": 562, "end_frame": 1132, "skill": "Pick", "language_memory": "The right cushion has been stood upright."}, {"action_text": "coordinate to stand the left cushion upright", "start_frame": 1132, "end_frame": 1654, "skill": "Stand", "language_memory": "The robot has stood the right cushion upright and picked up the center cushion."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Arrange the sofa cushions by first standing the right cushion upright, then picking up the center cushion, and finally standing the left cushion upright."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 43, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000043.mp4", "length": 1350, "action_config": [{"action_text": "coordinate to stand the right cushion upright", "start_frame": 0, "end_frame": 377, "skill": "Stand", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the center cushion", "start_frame": 377, "end_frame": 819, "skill": "Pick", "language_memory": "The right cushion has been stood upright."}, {"action_text": "coordinate to stand the left cushion upright", "start_frame": 819, "end_frame": 1350, "skill": "Stand", "language_memory": "The robot has stood the right cushion upright and picked up the center cushion."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Arrange the sofa cushions by first standing the right cushion upright, then picking up the center cushion, and finally standing the left cushion upright."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 44, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000044.mp4", "length": 1542, "action_config": [{"action_text": "coordinate to stand the center cushion upright", "start_frame": 0, "end_frame": 368, "skill": "Stand", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the left cushion", "start_frame": 368, "end_frame": 819, "skill": "Pick", "language_memory": "The center cushion has been stood upright."}, {"action_text": "move to the right cushion", "start_frame": 819, "end_frame": 973, "skill": "Navigate", "language_memory": "The robot has stood the center cushion upright and picked up the left cushion."}, {"action_text": "cooperate to stand the right cushion upright", "start_frame": 973, "end_frame": 1423, "skill": "Stand", "language_memory": "The robot has stood the center cushion upright, picked up the left cushion, and moved to the right cushion."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Coordinate to stand the center sofa cushion upright, then pick up the left cushion and move to the right cushion to cooperate in standing it upright as well."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 45, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000045.mp4", "length": 1434, "action_config": [{"action_text": "coordinate to stand the right cushion upright", "start_frame": 0, "end_frame": 321, "skill": "Stand", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "coordinate to stand the center cushion upright", "start_frame": 321, "end_frame": 830, "skill": "Stand", "language_memory": "The right cushion has been stood upright."}, {"action_text": "coordinate to stand the left cushion upright", "start_frame": 830, "end_frame": 1340, "skill": "Stand", "language_memory": "The robot has coordinated to stand the right and center sofa cushions upright."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Arrange the sofa cushions by first standing the right cushion upright, followed by standing the center cushion upright, and finally standing the left cushion upright."]}
{"task_id": "Arrange_The_Sofa_Cushions_20250722_008", "episode_index": 46, "video_path": "Arrange_The_Sofa_Cushions_20250722_008/videos/chunk-000/{video_key}/episode_000046.mp4", "length": 1435, "action_config": [{"action_text": "coordinate to stand the right cushion upright", "start_frame": 0, "end_frame": 401, "skill": "Stand", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the center cushion", "start_frame": 401, "end_frame": 882, "skill": "Pick", "language_memory": "The right cushion has been stood upright."}, {"action_text": "pick up the pillow on the left", "start_frame": 882, "end_frame": 1299, "skill": "Pick", "language_memory": "The robot has stood the right cushion upright and picked up the center cushion."}], "tasks": ["arrange the sofa cushions"], "detailed_task_instruction": ["Coordinate to stand the right cushion upright, then pick up the center cushion and the pillow on the left to arrange the sofa cushions."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 0, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000000.mp4", "length": 1435, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 272, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 272, "end_frame": 553, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 553, "end_frame": 670, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 670, "end_frame": 853, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 853, "end_frame": 1060, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1060, "end_frame": 1435, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 1, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000001.mp4", "length": 1748, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 304, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 304, "end_frame": 609, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 609, "end_frame": 748, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left to the switch", "start_frame": 748, "end_frame": 993, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 993, "end_frame": 1346, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating left toward the switch."}, {"action_text": "move to the initial position", "start_frame": 1346, "end_frame": 1748, "skill": "Navigate", "language_memory": "The robot has moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left to the switch, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the exit door and turn on the lights by pressing the switch in the room. Then, move to the sink, rotate your body left to reach the switch, and press it again to toggle the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 2, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000002.mp4", "length": 535, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 294, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the switch", "start_frame": 294, "end_frame": 535, "skill": "Aim", "language_memory": "The robot has moved to the switch."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the exit door and aim at the light switch to turn the lights on or off."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 3, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000003.mp4", "length": 1489, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 498, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 498, "end_frame": 696, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 696, "end_frame": 749, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}, {"action_text": "move to the switch", "start_frame": 749, "end_frame": 924, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "press the toilet light switch", "start_frame": 924, "end_frame": 1117, "skill": "Press", "language_memory": "The robot moved to the bathroom light switch and turned on the bathroom light."}, {"action_text": "move to the initial position", "start_frame": 1117, "end_frame": 1489, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom, turned on the bathroom light, and turned on the toilet light."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the bathroom light switch, then proceed to the front of the toilet. Afterward, return to the switch to press the toilet light switch, and finally move back to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 4, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000004.mp4", "length": 1370, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 391, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the toilet light switch", "start_frame": 391, "end_frame": 554, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 554, "end_frame": 636, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the toilet light."}, {"action_text": "move to the switch", "start_frame": 636, "end_frame": 727, "skill": "Navigate", "language_memory": "The robot moved to the switch, turned on the toilet light, and positioned itself in front of the toilet."}, {"action_text": "press the bathroom light switch", "start_frame": 727, "end_frame": 986, "skill": "Press", "language_memory": "The robot moved to the toilet light switch and turned it on."}, {"action_text": "move to the initial position", "start_frame": 986, "end_frame": 1370, "skill": "Navigate", "language_memory": "The robot moved to the switch and pressed the toilet light switch, then moved to the front of the toilet, returned to the switch, and pressed the bathroom light switch."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the toilet light switch, then proceed to the front of the toilet. Next, return to the switch and press the bathroom light switch. Finally, move back to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 5, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000005.mp4", "length": 1603, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 331, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 331, "end_frame": 554, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 554, "end_frame": 747, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 747, "end_frame": 958, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 958, "end_frame": 1183, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1183, "end_frame": 1603, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 6, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000006.mp4", "length": 1713, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 521, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 521, "end_frame": 749, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 749, "end_frame": 835, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}, {"action_text": "move to the switch", "start_frame": 835, "end_frame": 917, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "press the bathroom light switch", "start_frame": 917, "end_frame": 1288, "skill": "Press", "language_memory": "The robot moved to the bathroom light switch and turned on the bathroom light."}, {"action_text": "move to the right to exit the room, rotate left to face inside, then move right to return to the initial position", "start_frame": 1288, "end_frame": 1713, "skill": "Navigate", "language_memory": "The robot moved to the bathroom light switch and turned on the bathroom light."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the bathroom light switch and press it to turn the lights on. Then, move to the front of the toilet. Next, return to the bathroom light switch and press it again to turn the lights off. Finally, move to the right to exit the room, rotate left to face inside, and then move right to return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 7, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000007.mp4", "length": 1568, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 414, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 414, "end_frame": 656, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 656, "end_frame": 781, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}, {"action_text": "move to the switch", "start_frame": 781, "end_frame": 890, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "press the bathroom light switch", "start_frame": 890, "end_frame": 1152, "skill": "Press", "language_memory": "The robot moved to the bathroom light switch and turned on the bathroom light."}, {"action_text": "move to the initial position", "start_frame": 1152, "end_frame": 1568, "skill": "Navigate", "language_memory": "The robot moved to the bathroom light switch and turned on the bathroom light."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the bathroom light switch to turn it on, then proceed to the front of the toilet. Afterward, return to the switch and press the bathroom light switch again to turn it off, finally moving back to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 8, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000008.mp4", "length": 1553, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 306, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 306, "end_frame": 570, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 570, "end_frame": 738, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 738, "end_frame": 904, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 904, "end_frame": 1153, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1153, "end_frame": 1553, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 9, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000009.mp4", "length": 1361, "action_config": [{"action_text": "move to the door, turn left, and proceed to the switch", "start_frame": 0, "end_frame": 337, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 337, "end_frame": 576, "skill": "Press", "language_memory": "The robot has moved to the door, turned left, and proceeded to the switch."}, {"action_text": "move to the sink", "start_frame": 576, "end_frame": 750, "skill": "Navigate", "language_memory": "The robot has reached the door, turned left, proceeded to the switch, and pressed the light switch in the room."}, {"action_text": "rotate the body left", "start_frame": 750, "end_frame": 906, "skill": "Rotate", "language_memory": "The robot has reached the door, turned on the room lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 906, "end_frame": 1052, "skill": "Press", "language_memory": "The robot has reached the door, turned on the room lights, and moved to the sink."}, {"action_text": "move to the initial position", "start_frame": 1052, "end_frame": 1361, "skill": "Navigate", "language_memory": "The robot has navigated to the door, turned on the lights in the room, and moved to the sink."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the exit door, turn left, and proceed to the first light switch to turn the lights on. Then, move to the sink, rotate your body left, and press the second light switch to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 10, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000010.mp4", "length": 1505, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 329, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch", "start_frame": 329, "end_frame": 575, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 575, "end_frame": 766, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights."}, {"action_text": "rotate the body left", "start_frame": 766, "end_frame": 908, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch in the room", "start_frame": 908, "end_frame": 1055, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1055, "end_frame": 1505, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch, moved to the sink, rotated its body left, and pressed the light switch in the room."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch in the room to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 11, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000011.mp4", "length": 1441, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 326, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 326, "end_frame": 520, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 520, "end_frame": 686, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 686, "end_frame": 917, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 917, "end_frame": 1075, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1075, "end_frame": 1441, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 12, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000012.mp4", "length": 1538, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 424, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 424, "end_frame": 652, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 652, "end_frame": 738, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}, {"action_text": "move to the switch", "start_frame": 738, "end_frame": 906, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "press the toilet light switch", "start_frame": 906, "end_frame": 1075, "skill": "Press", "language_memory": "The robot moved to the bathroom light switch and turned on the bathroom light."}, {"action_text": "move to the initial position", "start_frame": 1075, "end_frame": 1538, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom, turned on the bathroom light, and turned on the toilet light."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the bathroom light switch, then proceed to the front of the toilet. Afterward, return to the switch to press the toilet light switch, and finally move back to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 13, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000013.mp4", "length": 1407, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 307, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 307, "end_frame": 491, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 491, "end_frame": 633, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 633, "end_frame": 808, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 808, "end_frame": 1013, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1013, "end_frame": 1407, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 14, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000014.mp4", "length": 1409, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 353, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 353, "end_frame": 540, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 540, "end_frame": 652, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}, {"action_text": "move to the right until in front of the switch", "start_frame": 652, "end_frame": 824, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "press the bathroom light switch", "start_frame": 824, "end_frame": 1027, "skill": "Press", "language_memory": "The robot moved to the bathroom switch, turned on the bathroom light, and navigated to the front of the toilet and the right side of the switch."}, {"action_text": "move to the outside of the room, rotate left to face inside, move left, and return to the initial position", "start_frame": 1027, "end_frame": 1409, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom, positioned in front of the toilet and the light switch, and successfully turned on the bathroom lights."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Enter the exit door, move to the switch, and press the bathroom light switch to turn it on. Proceed to the front of the toilet, then move right until standing in front of the switch again. Press the bathroom light switch to turn it off. Finally, move to the outside of the room, rotate left to face inside, move left, and return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 15, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000015.mp4", "length": 1526, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 336, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch", "start_frame": 336, "end_frame": 604, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 604, "end_frame": 755, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights."}, {"action_text": "rotate the switch left", "start_frame": 755, "end_frame": 965, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 965, "end_frame": 1179, "skill": "Press", "language_memory": "The robot moved to the switch, pressed the light switch, moved to the sink, and rotated the switch left."}, {"action_text": "move to the initial position", "start_frame": 1179, "end_frame": 1526, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch, moved to the sink, rotated the switch left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch to turn it on. Then, move to the sink, rotate the switch left to turn off the lights, and finally return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 16, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000016.mp4", "length": 1479, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 445, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 445, "end_frame": 666, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 666, "end_frame": 767, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}, {"action_text": "move to the switch", "start_frame": 767, "end_frame": 902, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "press the bathroom light switch", "start_frame": 902, "end_frame": 1100, "skill": "Press", "language_memory": "The robot moved to the bathroom light switch and turned on the bathroom light."}, {"action_text": "move to the initial position", "start_frame": 1100, "end_frame": 1479, "skill": "Navigate", "language_memory": "The robot moved to the bathroom light switch and turned on the bathroom light."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the bathroom light switch to turn it on, then proceed to the front of the toilet. Afterward, return to the switch and press the bathroom light switch again to turn it off, finally moving back to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 17, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000017.mp4", "length": 1534, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 321, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 321, "end_frame": 647, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 647, "end_frame": 811, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "press the light switch", "start_frame": 811, "end_frame": 1197, "skill": "Press", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "move to the initial position", "start_frame": 1197, "end_frame": 1534, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, and pressed the light switch."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the exit door and turn on the lights by pressing the switch in the room. Next, proceed to the sink and turn off the lights by pressing its switch. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 18, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000018.mp4", "length": 1485, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 361, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 361, "end_frame": 551, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 551, "end_frame": 703, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left to the switch", "start_frame": 703, "end_frame": 934, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 934, "end_frame": 1129, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating left toward the switch."}, {"action_text": "move to the initial position", "start_frame": 1129, "end_frame": 1485, "skill": "Navigate", "language_memory": "The robot has moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left to the switch, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the exit door and turn on the lights by pressing the switch in the room. Then, move to the sink, rotate your body left to reach the switch, and press it again to toggle the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 19, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000019.mp4", "length": 1600, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 342, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 342, "end_frame": 569, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 569, "end_frame": 743, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the switch left", "start_frame": 743, "end_frame": 972, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 972, "end_frame": 1246, "skill": "Press", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, and rotated the switch left."}, {"action_text": "move to the initial position", "start_frame": 1246, "end_frame": 1600, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch, moved to the sink, rotated the switch left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the exit door and turn on the lights by pressing the light switch in the room. Then, proceed to the sink, rotate the switch left, and press the light switch again. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 20, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000020.mp4", "length": 1556, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 347, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 347, "end_frame": 523, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 523, "end_frame": 701, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 701, "end_frame": 953, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 953, "end_frame": 1171, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1171, "end_frame": 1556, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 21, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000021.mp4", "length": 1450, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 346, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 346, "end_frame": 532, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 532, "end_frame": 702, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the switch left", "start_frame": 702, "end_frame": 933, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 933, "end_frame": 1101, "skill": "Press", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, and rotated the switch left."}, {"action_text": "move to the initial position", "start_frame": 1101, "end_frame": 1450, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch, moved to the sink, rotated the switch left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the exit door and turn on the lights by pressing the light switch in the room. Then, proceed to the sink, rotate the switch left, and press the light switch again. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 22, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000022.mp4", "length": 1523, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 308, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 308, "end_frame": 550, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 550, "end_frame": 727, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 727, "end_frame": 937, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 937, "end_frame": 1144, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1144, "end_frame": 1523, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 23, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000023.mp4", "length": 1550, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 355, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 355, "end_frame": 575, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 575, "end_frame": 805, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 805, "end_frame": 982, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 982, "end_frame": 1188, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1188, "end_frame": 1550, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 24, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000024.mp4", "length": 1630, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 347, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 347, "end_frame": 677, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 677, "end_frame": 836, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left to the switch", "start_frame": 836, "end_frame": 1003, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 1003, "end_frame": 1249, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating left toward the switch."}, {"action_text": "move to the initial position", "start_frame": 1249, "end_frame": 1630, "skill": "Navigate", "language_memory": "The robot has moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left to the switch, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the exit door and turn on the lights by pressing the switch in the room. Then, move to the sink, rotate your body left to reach the switch, and press it again to toggle the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 25, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000025.mp4", "length": 1623, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 322, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 322, "end_frame": 575, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 575, "end_frame": 744, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 744, "end_frame": 1027, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 1027, "end_frame": 1237, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1237, "end_frame": 1623, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 26, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000026.mp4", "length": 1539, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 374, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the toilet light switch", "start_frame": 374, "end_frame": 604, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 604, "end_frame": 708, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the toilet light."}, {"action_text": "move to the switch", "start_frame": 708, "end_frame": 858, "skill": "Navigate", "language_memory": "The robot moved to the switch, turned on the toilet light, and positioned itself in front of the toilet."}, {"action_text": "press the bathroom light switch", "start_frame": 858, "end_frame": 1164, "skill": "Press", "language_memory": "The robot moved to the toilet light switch and turned it on."}, {"action_text": "move to the initial position", "start_frame": 1164, "end_frame": 1539, "skill": "Navigate", "language_memory": "The robot moved to the switch and pressed the toilet light switch, then moved to the front of the toilet, returned to the switch, and pressed the bathroom light switch."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the toilet light switch, then proceed to the front of the toilet. Next, return to the switch and press the bathroom light switch. Finally, move back to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 27, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000027.mp4", "length": 1418, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 292, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 292, "end_frame": 476, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 476, "end_frame": 622, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the switch left", "start_frame": 622, "end_frame": 845, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 845, "end_frame": 1022, "skill": "Press", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, and rotated the switch left."}, {"action_text": "move to the initial position", "start_frame": 1022, "end_frame": 1418, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch, moved to the sink, rotated the switch left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the exit door and turn on the lights by pressing the light switch in the room. Then, proceed to the sink, rotate the switch left, and press the light switch again. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 28, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000028.mp4", "length": 1523, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 331, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 331, "end_frame": 572, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 572, "end_frame": 732, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 732, "end_frame": 997, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 997, "end_frame": 1139, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1139, "end_frame": 1523, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 29, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000029.mp4", "length": 1677, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 308, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 308, "end_frame": 653, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 653, "end_frame": 820, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 820, "end_frame": 1036, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 1036, "end_frame": 1238, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1238, "end_frame": 1677, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 30, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000030.mp4", "length": 1654, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 333, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 333, "end_frame": 650, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 650, "end_frame": 835, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 835, "end_frame": 1049, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 1049, "end_frame": 1295, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1295, "end_frame": 1654, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 31, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000031.mp4", "length": 1415, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 315, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 315, "end_frame": 533, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 533, "end_frame": 673, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the switch left", "start_frame": 673, "end_frame": 876, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 876, "end_frame": 1032, "skill": "Press", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, and rotated the switch left."}, {"action_text": "move to the initial position", "start_frame": 1032, "end_frame": 1415, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch, moved to the sink, rotated the switch left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the exit door and turn on the lights by pressing the light switch in the room. Then, proceed to the sink, rotate the switch left, and press the light switch again. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 32, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000032.mp4", "length": 1575, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 364, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 364, "end_frame": 735, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 735, "end_frame": 841, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}, {"action_text": "move to the right until facing the switch", "start_frame": 841, "end_frame": 995, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "press the bathroom light switch", "start_frame": 995, "end_frame": 1199, "skill": "Press", "language_memory": "The robot moved to the bathroom light switch, turned on the bathroom light, and repositioned itself near the toilet and the switch."}, {"action_text": "move to the right to exit the room, rotate left to face inside, then move right to return to the initial position", "start_frame": 1199, "end_frame": 1575, "skill": "Navigate", "language_memory": "The robot moved to the bathroom light switch and pressed it twice."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the bathroom light switch to turn it on. Then, move to the front of the toilet. Next, move to the right until facing the switch again and press the bathroom light switch to turn it off. Finally, move to the right to exit the room, rotate left to face inside, and move right to return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 33, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000033.mp4", "length": 1603, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 385, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 385, "end_frame": 686, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 686, "end_frame": 773, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}, {"action_text": "move to the switch", "start_frame": 773, "end_frame": 892, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "press the bathroom light switch", "start_frame": 892, "end_frame": 1217, "skill": "Press", "language_memory": "The robot moved to the bathroom light switch and turned on the bathroom light."}, {"action_text": "move to the initial position", "start_frame": 1217, "end_frame": 1603, "skill": "Navigate", "language_memory": "The robot moved to the bathroom light switch and turned on the bathroom light."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the bathroom light switch to turn it on, then proceed to the front of the toilet. Afterward, return to the switch and press the bathroom light switch again to turn it off, finally moving back to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 34, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000034.mp4", "length": 1615, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 313, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 313, "end_frame": 582, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 582, "end_frame": 739, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 739, "end_frame": 996, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 996, "end_frame": 1189, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1189, "end_frame": 1615, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 35, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000035.mp4", "length": 1362, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 365, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 365, "end_frame": 549, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 549, "end_frame": 647, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "move to the switch", "start_frame": 647, "end_frame": 817, "skill": "Navigate", "language_memory": "The robot has moved to the switch, turned on the lights, and positioned itself in front of the toilet."}, {"action_text": "press the light switch in the room", "start_frame": 817, "end_frame": 969, "skill": "Press", "language_memory": "The robot moved to the switch, pressed the light switch in the room, and moved to the front of the toilet."}, {"action_text": "move to the right outside the room, rotate left to face inside, move right, and return to the initial position", "start_frame": 969, "end_frame": 1362, "skill": "Navigate", "language_memory": "The robot has moved to the switch and pressed the light switch in the room."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the light switch and press it to turn on the lights. Then, move to the front of the toilet. Next, move to the light switch again and press it to turn off the lights. Finally, move to the right outside the room, rotate left to face inside, move right, and return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 36, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000036.mp4", "length": 1532, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 411, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 411, "end_frame": 679, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 679, "end_frame": 790, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}, {"action_text": "move to the switch", "start_frame": 790, "end_frame": 980, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "press the bathroom light switch", "start_frame": 980, "end_frame": 1174, "skill": "Press", "language_memory": "The robot moved to the bathroom light switch and turned on the bathroom light."}, {"action_text": "move to the initial position", "start_frame": 1174, "end_frame": 1532, "skill": "Navigate", "language_memory": "The robot moved to the bathroom light switch and turned on the bathroom light."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the bathroom light switch to turn it on, then proceed to the front of the toilet. Afterward, return to the switch and press the bathroom light switch again to turn it off, finally moving back to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 37, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000037.mp4", "length": 1512, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 433, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 433, "end_frame": 665, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 665, "end_frame": 757, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}, {"action_text": "move to the switch", "start_frame": 757, "end_frame": 862, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "press the bathroom light switch", "start_frame": 862, "end_frame": 1099, "skill": "Press", "language_memory": "The robot moved to the bathroom light switch and turned on the bathroom light."}, {"action_text": "move to the initial position", "start_frame": 1099, "end_frame": 1512, "skill": "Navigate", "language_memory": "The robot moved to the bathroom light switch and turned on the bathroom light."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the bathroom light switch to turn it on, then proceed to the front of the toilet. Afterward, return to the switch and press the bathroom light switch again to turn it off, finally moving back to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 38, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000038.mp4", "length": 1483, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 304, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 304, "end_frame": 497, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 497, "end_frame": 682, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 682, "end_frame": 899, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 899, "end_frame": 1119, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1119, "end_frame": 1483, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 39, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000039.mp4", "length": 1277, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 313, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 313, "end_frame": 489, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 489, "end_frame": 591, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}, {"action_text": "move to the switch", "start_frame": 591, "end_frame": 723, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "press the bathroom light switch", "start_frame": 723, "end_frame": 910, "skill": "Press", "language_memory": "The robot moved to the bathroom light switch and turned on the bathroom light."}, {"action_text": "move to the initial position", "start_frame": 910, "end_frame": 1277, "skill": "Navigate", "language_memory": "The robot moved to the bathroom light switch and turned on the bathroom light."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the bathroom light switch to turn it on, then proceed to the front of the toilet. Afterward, return to the switch and press the bathroom light switch again to turn it off, finally moving back to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 40, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000040.mp4", "length": 1450, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 319, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 319, "end_frame": 526, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 526, "end_frame": 677, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left to the switch", "start_frame": 677, "end_frame": 924, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 924, "end_frame": 1102, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating left toward the switch."}, {"action_text": "move to the initial position", "start_frame": 1102, "end_frame": 1450, "skill": "Navigate", "language_memory": "The robot has moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left to the switch, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the exit door and turn on the lights by pressing the switch in the room. Then, move to the sink, rotate your body left to reach the switch, and press it again to toggle the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 41, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000041.mp4", "length": 1381, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 463, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 463, "end_frame": 651, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 651, "end_frame": 718, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}, {"action_text": "move to the front of the switch", "start_frame": 718, "end_frame": 883, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "press the bathroom light switch", "start_frame": 883, "end_frame": 1023, "skill": "Press", "language_memory": "The robot moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "move to the initial position", "start_frame": 1023, "end_frame": 1381, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the bathroom light switch to turn it on, then proceed to the front of the toilet. Afterward, return to the front of the switch and press the bathroom light switch again to turn it off, finally moving back to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 42, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000042.mp4", "length": 1518, "action_config": [{"action_text": "move to the door, turn right, and proceed to the switch", "start_frame": 0, "end_frame": 370, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 370, "end_frame": 551, "skill": "Press", "language_memory": "The robot has moved to the door, turned right, and proceeded to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 551, "end_frame": 634, "skill": "Navigate", "language_memory": "The robot moved to the door, turned right, proceeded to the switch, and turned on the bathroom light."}, {"action_text": "move to the switch", "start_frame": 634, "end_frame": 816, "skill": "Navigate", "language_memory": "The robot has reached the bathroom, turned on the light, and positioned in front of the toilet."}, {"action_text": "press the bathroom light switch", "start_frame": 816, "end_frame": 1120, "skill": "Press", "language_memory": "The robot moved to the door, turned right, proceeded to the switch, pressed the bathroom light switch, and moved to the front of the toilet and then to the switch."}, {"action_text": "move to the initial position", "start_frame": 1120, "end_frame": 1518, "skill": "Navigate", "language_memory": "The robot moved to the door, turned right, proceeded to the switch, and pressed the bathroom light switch twice."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Enter the exit door, then turn right and proceed to the bathroom light switch to turn it on. Next, move to the front of the toilet, return to the switch, and turn the bathroom light off. Finally, move back to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 43, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000043.mp4", "length": 1649, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 264, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 264, "end_frame": 673, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 673, "end_frame": 806, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 806, "end_frame": 1065, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 1065, "end_frame": 1305, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1305, "end_frame": 1649, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 44, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000044.mp4", "length": 1616, "action_config": [{"action_text": "move to the door, rotate left, and proceed to the switch", "start_frame": 0, "end_frame": 272, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch", "start_frame": 272, "end_frame": 572, "skill": "Press", "language_memory": "The robot has moved to the door, rotated left, and proceeded to the switch."}, {"action_text": "move to the sink", "start_frame": 572, "end_frame": 814, "skill": "Navigate", "language_memory": "The robot moved to the door, rotated left, proceeded to the switch, and pressed the light switch."}, {"action_text": "rotate the switch left", "start_frame": 814, "end_frame": 1008, "skill": "Rotate", "language_memory": "The robot has moved to the door, proceeded to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch in the room", "start_frame": 1008, "end_frame": 1295, "skill": "Press", "language_memory": "The robot entered the room, turned on the lights, and moved to the sink."}, {"action_text": "move to the initial position", "start_frame": 1295, "end_frame": 1616, "skill": "Navigate", "language_memory": "The robot moved to the door, proceeded to the switch, pressed the light switch, moved to the sink, rotated the switch left, and pressed the light switch in the room."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the exit door, rotate left, and proceed to the first switch to turn the lights on. Then, move to the sink, rotate the switch left, and press the light switch in the room to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 45, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000045.mp4", "length": 1536, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 269, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch", "start_frame": 269, "end_frame": 554, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 554, "end_frame": 695, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights."}, {"action_text": "rotate the switch left", "start_frame": 695, "end_frame": 873, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 873, "end_frame": 1192, "skill": "Press", "language_memory": "The robot moved to the switch, pressed the light switch, moved to the sink, and rotated the switch left."}, {"action_text": "move to the initial position", "start_frame": 1192, "end_frame": 1536, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch, moved to the sink, rotated the switch left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch to turn it on. Then, move to the sink, rotate the switch left to turn off the lights, and finally return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 46, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000046.mp4", "length": 1588, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 288, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 288, "end_frame": 753, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 753, "end_frame": 902, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 902, "end_frame": 1080, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 1080, "end_frame": 1229, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1229, "end_frame": 1588, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 47, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000047.mp4", "length": 1798, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 381, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch", "start_frame": 381, "end_frame": 634, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 634, "end_frame": 835, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights."}, {"action_text": "move to the front of the switch", "start_frame": 835, "end_frame": 1002, "skill": "Navigate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch in the room", "start_frame": 1002, "end_frame": 1378, "skill": "Press", "language_memory": "The robot moved to the switch, pressed the light switch, moved to the sink, and returned to the front of the switch."}, {"action_text": "move to the initial position", "start_frame": 1378, "end_frame": 1798, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch, moved to the sink, returned to the front of the switch, and pressed the light switch in the room."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the exit door and toggle the lights on and off. Proceed to the switch, press it, then move to the sink. Return to the front of the switch and press the light switch in the room again. Finally, move back to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 48, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000048.mp4", "length": 1613, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 285, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 285, "end_frame": 655, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 655, "end_frame": 786, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left to the switch", "start_frame": 786, "end_frame": 968, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 968, "end_frame": 1197, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating left toward the switch."}, {"action_text": "move to the initial position", "start_frame": 1197, "end_frame": 1613, "skill": "Navigate", "language_memory": "The robot has moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left to the switch, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the exit door and turn on the lights by pressing the switch in the room. Then, move to the sink, rotate your body left to reach the switch, and press it again to toggle the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 49, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000049.mp4", "length": 1493, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 314, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 314, "end_frame": 582, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 582, "end_frame": 706, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the switch left", "start_frame": 706, "end_frame": 925, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 925, "end_frame": 1146, "skill": "Press", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, and rotated the switch left."}, {"action_text": "move to the initial position", "start_frame": 1146, "end_frame": 1493, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch, moved to the sink, rotated the switch left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the exit door and turn on the lights by pressing the light switch in the room. Then, proceed to the sink, rotate the switch left, and press the light switch again. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 50, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000050.mp4", "length": 1486, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 393, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 393, "end_frame": 624, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 624, "end_frame": 713, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}, {"action_text": "move to the front of the switch", "start_frame": 713, "end_frame": 881, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "press the toilet light switch", "start_frame": 881, "end_frame": 1116, "skill": "Press", "language_memory": "The robot moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "move to the initial position", "start_frame": 1116, "end_frame": 1486, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom, turned on the bathroom light, and turned on the toilet light."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the bathroom light switch to turn it on. Then, move to the front of the toilet, proceed to the front of the switch, and press the toilet light switch to turn it on. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 51, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000051.mp4", "length": 1621, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 312, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 312, "end_frame": 639, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 639, "end_frame": 791, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 791, "end_frame": 982, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 982, "end_frame": 1233, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1233, "end_frame": 1621, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 52, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000052.mp4", "length": 1499, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 311, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 311, "end_frame": 543, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 543, "end_frame": 695, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 695, "end_frame": 847, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 847, "end_frame": 1063, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1063, "end_frame": 1499, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 53, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000053.mp4", "length": 1435, "action_config": [{"action_text": "move to the door, rotate left, and proceed to the switch", "start_frame": 0, "end_frame": 281, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 281, "end_frame": 474, "skill": "Press", "language_memory": "The robot has moved to the door, rotated left, and proceeded to the switch."}, {"action_text": "move to the sink", "start_frame": 474, "end_frame": 623, "skill": "Navigate", "language_memory": "The robot has reached the door and turned on the lights."}, {"action_text": "rotate the switch left", "start_frame": 623, "end_frame": 803, "skill": "Rotate", "language_memory": "The robot has entered the room, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 803, "end_frame": 986, "skill": "Press", "language_memory": "The robot entered the room, turned on the lights, and moved to the sink."}, {"action_text": "move to the initial position", "start_frame": 986, "end_frame": 1435, "skill": "Navigate", "language_memory": "The robot moved to the door, proceeded to the switch, pressed the light switch, moved to the sink, rotated the switch left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the exit door, rotate left, and proceed to the light switch to turn the lights on by pressing it. Then, move to the sink, rotate the switch left, and press the light switch again. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 54, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000054.mp4", "length": 1352, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 302, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 302, "end_frame": 715, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 715, "end_frame": 836, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 836, "end_frame": 1018, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 1018, "end_frame": 1352, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 55, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000055.mp4", "length": 1590, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 353, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 353, "end_frame": 595, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 595, "end_frame": 724, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 724, "end_frame": 909, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 909, "end_frame": 1127, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1127, "end_frame": 1590, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 56, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000056.mp4", "length": 1542, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 311, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 311, "end_frame": 605, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 605, "end_frame": 732, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 732, "end_frame": 911, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 911, "end_frame": 1157, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1157, "end_frame": 1542, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 57, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000057.mp4", "length": 1168, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 373, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 373, "end_frame": 596, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 596, "end_frame": 699, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}, {"action_text": "move to the right to exit the room, rotate left to face inside, move right, and return to the initial position", "start_frame": 699, "end_frame": 1168, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the bathroom light switch to turn it on. Then, move to the front of the toilet. Finally, move to the right to exit the room, rotate left to face inside, move right, and return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 58, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000058.mp4", "length": 1506, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 341, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the toilet light switch", "start_frame": 341, "end_frame": 647, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 647, "end_frame": 723, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the toilet light."}, {"action_text": "move to the switch", "start_frame": 723, "end_frame": 877, "skill": "Navigate", "language_memory": "The robot moved to the switch, turned on the toilet light, and positioned itself in front of the toilet."}, {"action_text": "press the bathroom light switch", "start_frame": 877, "end_frame": 1176, "skill": "Press", "language_memory": "The robot moved to the toilet light switch and turned it on."}, {"action_text": "move to the right outside the room, rotate left to face inside, move right, and return to the initial position", "start_frame": 1176, "end_frame": 1506, "skill": "Navigate", "language_memory": "The robot moved to the switch and pressed the toilet light switch, then moved to the front of the toilet, returned to the switch, and pressed the bathroom light switch."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the toilet light switch, then proceed to the front of the toilet. Next, move to the switch again to press the bathroom light switch. Finally, move to the right outside the room, rotate left to face inside, move right, and return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 59, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000059.mp4", "length": 1561, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 360, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 360, "end_frame": 622, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 622, "end_frame": 722, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}, {"action_text": "move to the right until facing the switch", "start_frame": 722, "end_frame": 880, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "press the bathroom light switch", "start_frame": 880, "end_frame": 1149, "skill": "Press", "language_memory": "The robot moved to the bathroom light switch, turned on the bathroom light, and repositioned itself near the toilet and the switch."}, {"action_text": "move to the right to exit the room, rotate left to face inside, move right, and return to the initial position", "start_frame": 1149, "end_frame": 1561, "skill": "Navigate", "language_memory": "The robot moved to the bathroom light switch and pressed it twice."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the bathroom light switch to turn it on. Then, move to the front of the toilet. Next, move to the right until facing the switch again and press the bathroom light switch to turn it off. Finally, move to the right to exit the room, rotate left to face inside, move right, and return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 60, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000060.mp4", "length": 1419, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 298, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 298, "end_frame": 505, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 505, "end_frame": 648, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the switch left", "start_frame": 648, "end_frame": 840, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 840, "end_frame": 1025, "skill": "Press", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, and rotated the switch left."}, {"action_text": "move to the initial position", "start_frame": 1025, "end_frame": 1419, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch, moved to the sink, rotated the switch left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the exit door and turn on the lights by pressing the light switch in the room. Then, proceed to the sink, rotate the switch left, and press the light switch again. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 61, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000061.mp4", "length": 1407, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 443, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 443, "end_frame": 619, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 619, "end_frame": 685, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}, {"action_text": "move to the right in front of the switch", "start_frame": 685, "end_frame": 821, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "press the bathroom light switch", "start_frame": 821, "end_frame": 1044, "skill": "Press", "language_memory": "The robot moved to the bathroom switch, turned on the bathroom light, and positioned itself in front of the toilet and the switch."}, {"action_text": "move to the initial position", "start_frame": 1044, "end_frame": 1407, "skill": "Navigate", "language_memory": "The robot moved to the bathroom light switch and pressed it twice."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the bathroom light switch to turn it on, then proceed to the front of the toilet. Afterward, move to the right in front of the switch again and press the bathroom light switch to turn it off, finally returning to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 62, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000062.mp4", "length": 1455, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 373, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 373, "end_frame": 594, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 594, "end_frame": 709, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}, {"action_text": "move to the switch", "start_frame": 709, "end_frame": 877, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "press the bathroom light switch", "start_frame": 877, "end_frame": 1101, "skill": "Press", "language_memory": "The robot moved to the bathroom light switch and turned on the bathroom light."}, {"action_text": "move to the right to exit the room, rotate left to face inside, then move right to return to the initial position", "start_frame": 1101, "end_frame": 1455, "skill": "Navigate", "language_memory": "The robot moved to the bathroom light switch and turned on the bathroom light."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the bathroom light switch and press it to turn the lights on. Then, move to the front of the toilet. Next, return to the bathroom light switch and press it again to turn the lights off. Finally, move to the right to exit the room, rotate left to face inside, and then move right to return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 63, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000063.mp4", "length": 1769, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 427, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 427, "end_frame": 662, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 662, "end_frame": 762, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}, {"action_text": "move to the front of the switch", "start_frame": 762, "end_frame": 975, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "press the bathroom light switch", "start_frame": 975, "end_frame": 1422, "skill": "Press", "language_memory": "The robot moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "move to the initial position", "start_frame": 1422, "end_frame": 1769, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the bathroom light switch to turn it on, then proceed to the front of the toilet. Afterward, return to the front of the switch and press the bathroom light switch again to turn it off, finally moving back to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 64, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000064.mp4", "length": 1385, "action_config": [{"action_text": "move to the door, turn right, and proceed to the switch", "start_frame": 0, "end_frame": 359, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 359, "end_frame": 632, "skill": "Press", "language_memory": "The robot has moved to the door, turned right, and proceeded to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 632, "end_frame": 742, "skill": "Navigate", "language_memory": "The robot moved to the door, turned right, proceeded to the switch, and turned on the bathroom light."}, {"action_text": "move to the front of the switch", "start_frame": 742, "end_frame": 891, "skill": "Navigate", "language_memory": "The robot has reached the bathroom, turned on the light, and positioned in front of the toilet."}, {"action_text": "press the bathroom light switch", "start_frame": 891, "end_frame": 1077, "skill": "Press", "language_memory": "The robot moved to the door, turned right, proceeded to the switch, pressed the bathroom light switch, and moved to the front of the toilet and the switch."}, {"action_text": "move to the initial position", "start_frame": 1077, "end_frame": 1385, "skill": "Navigate", "language_memory": "The robot moved to the door, turned right, proceeded to the switch, and pressed the bathroom light switch twice."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Enter the exit door, then move to the door, turn right, and proceed to the switch to turn on the bathroom light. Next, move to the front of the toilet, then move to the front of the switch again to turn off the bathroom light. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 65, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000065.mp4", "length": 1543, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 409, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 409, "end_frame": 673, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 673, "end_frame": 749, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}, {"action_text": "move to the switch", "start_frame": 749, "end_frame": 878, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "press the bathroom light switch", "start_frame": 878, "end_frame": 1080, "skill": "Press", "language_memory": "The robot moved to the bathroom light switch and turned on the bathroom light."}, {"action_text": "move to the initial position", "start_frame": 1080, "end_frame": 1543, "skill": "Navigate", "language_memory": "The robot moved to the bathroom light switch and turned on the bathroom light."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the bathroom light switch to turn it on, then proceed to the front of the toilet. Afterward, return to the switch and press the bathroom light switch again to turn it off, finally moving back to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 66, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000066.mp4", "length": 1408, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 359, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 359, "end_frame": 563, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 563, "end_frame": 665, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}, {"action_text": "move to the switch", "start_frame": 665, "end_frame": 766, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "press the bathroom light switch", "start_frame": 766, "end_frame": 1022, "skill": "Press", "language_memory": "The robot moved to the bathroom light switch and turned on the bathroom light."}, {"action_text": "move to the initial position", "start_frame": 1022, "end_frame": 1408, "skill": "Navigate", "language_memory": "The robot moved to the bathroom light switch and turned on the bathroom light."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the bathroom light switch to turn it on, then proceed to the front of the toilet. Afterward, return to the switch and press the bathroom light switch again to turn it off, finally moving back to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 67, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000067.mp4", "length": 1658, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 327, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 327, "end_frame": 606, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 606, "end_frame": 822, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the switch left", "start_frame": 822, "end_frame": 1009, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 1009, "end_frame": 1216, "skill": "Press", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, and rotated the switch left."}, {"action_text": "move to the initial position", "start_frame": 1216, "end_frame": 1658, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch, moved to the sink, rotated the switch left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the exit door and turn on the lights by pressing the light switch in the room. Then, proceed to the sink, rotate the switch left, and press the light switch again. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 68, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000068.mp4", "length": 1455, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 311, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 311, "end_frame": 524, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 524, "end_frame": 735, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 735, "end_frame": 900, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 900, "end_frame": 1114, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1114, "end_frame": 1455, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 69, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000069.mp4", "length": 1533, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 325, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 325, "end_frame": 644, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 644, "end_frame": 803, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 803, "end_frame": 953, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 953, "end_frame": 1173, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1173, "end_frame": 1533, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 70, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000070.mp4", "length": 1555, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 327, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 327, "end_frame": 539, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 539, "end_frame": 738, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 738, "end_frame": 969, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 969, "end_frame": 1157, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1157, "end_frame": 1555, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 71, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000071.mp4", "length": 1883, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 372, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 372, "end_frame": 522, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "press the bathroom light switch", "start_frame": 522, "end_frame": 908, "skill": "Press", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}, {"action_text": "move to the front of the toilet", "start_frame": 908, "end_frame": 991, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom light switch and turned on the bathroom light."}, {"action_text": "move to the switch", "start_frame": 991, "end_frame": 1136, "skill": "Navigate", "language_memory": "The robot moved to the bathroom, pressed the light switch to turn on the lights, and positioned itself in front of the toilet."}, {"action_text": "press the bathroom light switch", "start_frame": 1136, "end_frame": 1515, "skill": "Press", "language_memory": "The robot moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "move to the right to exit the room, rotate left to face inside, then move right to return to the initial position", "start_frame": 1515, "end_frame": 1883, "skill": "Navigate", "language_memory": "The robot moved to the bathroom switch and turned on the bathroom light."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the bathroom light switch and press it three times in succession. Then, move to the front of the toilet. Next, move to the switch again and press the bathroom light switch. Finally, move to the right to exit the room, rotate left to face inside, and then move right to return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 72, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000072.mp4", "length": 1565, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 402, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 402, "end_frame": 591, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 591, "end_frame": 759, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 759, "end_frame": 979, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 979, "end_frame": 1213, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1213, "end_frame": 1565, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 73, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000073.mp4", "length": 1583, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 314, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 314, "end_frame": 569, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 569, "end_frame": 738, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the switch left", "start_frame": 738, "end_frame": 979, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 979, "end_frame": 1182, "skill": "Press", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, and rotated the switch left."}, {"action_text": "move to the initial position", "start_frame": 1182, "end_frame": 1583, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch, moved to the sink, rotated the switch left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the exit door and turn on the lights by pressing the light switch in the room. Then, proceed to the sink, rotate the switch left, and press the light switch again. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 74, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000074.mp4", "length": 1777, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 350, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 350, "end_frame": 670, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 670, "end_frame": 939, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left to the switch", "start_frame": 939, "end_frame": 1151, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 1151, "end_frame": 1384, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating left toward the switch."}, {"action_text": "move to the initial position", "start_frame": 1384, "end_frame": 1777, "skill": "Navigate", "language_memory": "The robot has moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left to the switch, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the exit door and turn on the lights by pressing the switch in the room. Then, move to the sink, rotate your body left to reach the switch, and press it again to toggle the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 75, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000075.mp4", "length": 1554, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 397, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 397, "end_frame": 667, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 667, "end_frame": 744, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}, {"action_text": "move to the right until in front of the switch", "start_frame": 744, "end_frame": 865, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "press the bathroom light switch", "start_frame": 865, "end_frame": 1114, "skill": "Press", "language_memory": "The robot moved to the bathroom switch, turned on the bathroom light, and navigated to the front of the toilet and the right side of the switch."}, {"action_text": "move to the initial position", "start_frame": 1114, "end_frame": 1554, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom, positioned in front of the toilet and the light switch, and successfully turned on the bathroom lights."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the bathroom light switch to turn it on. Then, move to the front of the toilet. Next, move to the right until in front of the switch again and press the bathroom light switch to turn it off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 76, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000076.mp4", "length": 1440, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 462, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 462, "end_frame": 690, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 690, "end_frame": 780, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}, {"action_text": "move to the right until facing the switch", "start_frame": 780, "end_frame": 893, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "press the bathroom light switch", "start_frame": 893, "end_frame": 1099, "skill": "Press", "language_memory": "The robot moved to the bathroom light switch, turned on the bathroom light, and repositioned itself near the toilet and the switch."}, {"action_text": "move to the initial position", "start_frame": 1099, "end_frame": 1440, "skill": "Navigate", "language_memory": "The robot moved to the bathroom light switch and pressed it twice."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the bathroom light switch to turn it on. Then, move to the front of the toilet. Next, move to the right until facing the switch again and press the bathroom light switch to turn it off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 77, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000077.mp4", "length": 1525, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 355, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 355, "end_frame": 568, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 568, "end_frame": 675, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}, {"action_text": "move to the switch", "start_frame": 675, "end_frame": 876, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "press the bathroom light switch", "start_frame": 876, "end_frame": 1109, "skill": "Press", "language_memory": "The robot moved to the bathroom light switch and turned on the bathroom light."}, {"action_text": "move to the right to exit the room, rotate left to face inside, then move right to return to the initial position", "start_frame": 1109, "end_frame": 1525, "skill": "Navigate", "language_memory": "The robot moved to the bathroom light switch and turned on the bathroom light."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the bathroom light switch and press it to turn the lights on. Then, move to the front of the toilet. Next, return to the bathroom light switch and press it again to turn the lights off. Finally, move to the right to exit the room, rotate left to face inside, and then move right to return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 78, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000078.mp4", "length": 1385, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 415, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 415, "end_frame": 643, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 643, "end_frame": 724, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}, {"action_text": "move to the right in front of the switch", "start_frame": 724, "end_frame": 838, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "press the bathroom light switch", "start_frame": 838, "end_frame": 1022, "skill": "Press", "language_memory": "The robot moved to the bathroom switch, turned on the bathroom light, and positioned itself in front of the toilet and the switch."}, {"action_text": "move to the initial position", "start_frame": 1022, "end_frame": 1385, "skill": "Navigate", "language_memory": "The robot moved to the bathroom light switch and pressed it twice."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the bathroom light switch to turn it on, then proceed to the front of the toilet. Afterward, move to the right in front of the switch again and press the bathroom light switch to turn it off, finally returning to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 79, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000079.mp4", "length": 1446, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 309, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 309, "end_frame": 490, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 490, "end_frame": 654, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 654, "end_frame": 837, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 837, "end_frame": 1053, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1053, "end_frame": 1446, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 80, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000080.mp4", "length": 1576, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 306, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 306, "end_frame": 592, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 592, "end_frame": 758, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 758, "end_frame": 994, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 994, "end_frame": 1208, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1208, "end_frame": 1576, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 81, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000081.mp4", "length": 1609, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 466, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 466, "end_frame": 758, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 758, "end_frame": 839, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}, {"action_text": "move to the switch", "start_frame": 839, "end_frame": 1038, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "press the bathroom light switch", "start_frame": 1038, "end_frame": 1224, "skill": "Press", "language_memory": "The robot moved to the bathroom light switch and turned on the bathroom light."}, {"action_text": "move to the initial position", "start_frame": 1224, "end_frame": 1609, "skill": "Navigate", "language_memory": "The robot moved to the bathroom light switch and turned on the bathroom light."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the bathroom light switch to turn it on, then proceed to the front of the toilet. Afterward, return to the switch and press the bathroom light switch again to turn it off, finally moving back to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 82, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000082.mp4", "length": 1607, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 312, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 312, "end_frame": 685, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 685, "end_frame": 821, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left to the switch", "start_frame": 821, "end_frame": 1028, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch in the room", "start_frame": 1028, "end_frame": 1248, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating left toward the switch."}, {"action_text": "move to the initial position", "start_frame": 1248, "end_frame": 1607, "skill": "Navigate", "language_memory": "The robot has moved to the switch, rotated its body, and pressed the light switch in the room."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the exit door and turn on the lights by pressing the switch in the room. Then, move to the sink, rotate your body left to face the switch, and press the light switch again to turn it off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 83, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000083.mp4", "length": 1282, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 329, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 329, "end_frame": 515, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 515, "end_frame": 621, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}, {"action_text": "move to the front of the switch", "start_frame": 621, "end_frame": 744, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "press the bathroom light switch", "start_frame": 744, "end_frame": 958, "skill": "Press", "language_memory": "The robot moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "move to the initial position", "start_frame": 958, "end_frame": 1282, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the bathroom light switch to turn it on, then proceed to the front of the toilet. Afterward, return to the front of the switch and press the bathroom light switch again to turn it off, finally moving back to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 84, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000084.mp4", "length": 1662, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 455, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 455, "end_frame": 715, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 715, "end_frame": 792, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}, {"action_text": "move to the front of the switch", "start_frame": 792, "end_frame": 891, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "press the toilet light switch", "start_frame": 891, "end_frame": 1197, "skill": "Press", "language_memory": "The robot moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "move to the initial position", "start_frame": 1197, "end_frame": 1662, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom, turned on the bathroom light, and turned on the toilet light."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the bathroom light switch to turn it on. Then, move to the front of the toilet, proceed to the front of the switch, and press the toilet light switch to turn it on. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 85, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000085.mp4", "length": 1604, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 316, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 316, "end_frame": 591, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 591, "end_frame": 836, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 836, "end_frame": 958, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 958, "end_frame": 1243, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1243, "end_frame": 1604, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 86, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000086.mp4", "length": 1669, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 415, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 415, "end_frame": 724, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 724, "end_frame": 813, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}, {"action_text": "move to the right until facing the switch", "start_frame": 813, "end_frame": 981, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "press the bathroom light switch", "start_frame": 981, "end_frame": 1315, "skill": "Press", "language_memory": "The robot moved to the bathroom light switch, turned on the bathroom light, and repositioned itself near the toilet and the switch."}, {"action_text": "move to the right to exit the room, rotate left to face inside, then move right to return to the initial position", "start_frame": 1315, "end_frame": 1669, "skill": "Navigate", "language_memory": "The robot moved to the bathroom light switch and pressed it twice."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the bathroom light switch to turn it on. Then, move to the front of the toilet. Next, move to the right until facing the switch again and press the bathroom light switch to turn it off. Finally, move to the right to exit the room, rotate left to face inside, and move right to return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 87, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000087.mp4", "length": 1394, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 343, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 343, "end_frame": 531, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 531, "end_frame": 693, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 693, "end_frame": 915, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 915, "end_frame": 1076, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1076, "end_frame": 1394, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 88, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000088.mp4", "length": 1463, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 331, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 331, "end_frame": 519, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 519, "end_frame": 678, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 678, "end_frame": 910, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 910, "end_frame": 1076, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1076, "end_frame": 1463, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 89, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000089.mp4", "length": 1635, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 333, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 333, "end_frame": 617, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 617, "end_frame": 805, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 805, "end_frame": 1012, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 1012, "end_frame": 1244, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1244, "end_frame": 1635, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 90, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000090.mp4", "length": 1539, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 306, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 306, "end_frame": 508, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 508, "end_frame": 677, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 677, "end_frame": 867, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 867, "end_frame": 1135, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1135, "end_frame": 1539, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 91, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000091.mp4", "length": 1629, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 397, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 397, "end_frame": 674, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 674, "end_frame": 773, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}, {"action_text": "move to the right until in front of the switch", "start_frame": 773, "end_frame": 970, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "press the bathroom light switch", "start_frame": 970, "end_frame": 1228, "skill": "Press", "language_memory": "The robot moved to the bathroom switch, turned on the bathroom light, and navigated to the front of the toilet and the right side of the switch."}, {"action_text": "move to the initial position", "start_frame": 1228, "end_frame": 1629, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom, positioned in front of the toilet and the light switch, and successfully turned on the bathroom lights."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the bathroom light switch to turn it on. Then, move to the front of the toilet. Next, move to the right until in front of the switch again and press the bathroom light switch to turn it off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 92, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000092.mp4", "length": 1522, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 296, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 296, "end_frame": 534, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 534, "end_frame": 708, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 708, "end_frame": 915, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 915, "end_frame": 1085, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1085, "end_frame": 1522, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 93, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000093.mp4", "length": 1613, "action_config": [{"action_text": "move to the door, rotate left, and proceed to the switch", "start_frame": 0, "end_frame": 343, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 343, "end_frame": 627, "skill": "Press", "language_memory": "The robot has moved to the door, rotated left, and proceeded to the switch."}, {"action_text": "move to the sink", "start_frame": 627, "end_frame": 833, "skill": "Navigate", "language_memory": "The robot has reached the door and turned on the lights."}, {"action_text": "rotate the body left", "start_frame": 833, "end_frame": 1008, "skill": "Rotate", "language_memory": "The robot has entered the room, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 1008, "end_frame": 1238, "skill": "Press", "language_memory": "The robot entered the room, turned on the lights, and moved to the sink."}, {"action_text": "move to the initial position", "start_frame": 1238, "end_frame": 1613, "skill": "Navigate", "language_memory": "The robot has entered the room, turned on the lights, and moved to the sink area."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the exit door, rotate left, and proceed to the first light switch to turn the lights on. Then, move to the sink, rotate your body left, and press the second light switch to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 94, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000094.mp4", "length": 1488, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 318, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 318, "end_frame": 550, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 550, "end_frame": 711, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 711, "end_frame": 913, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 913, "end_frame": 1063, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1063, "end_frame": 1488, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 95, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000095.mp4", "length": 1015, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 309, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 309, "end_frame": 579, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 579, "end_frame": 1015, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the bathroom light switch to turn on the lights, then proceed to the front of the toilet."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 96, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000096.mp4", "length": 1412, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 354, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 354, "end_frame": 556, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 556, "end_frame": 699, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 699, "end_frame": 889, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 889, "end_frame": 1055, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1055, "end_frame": 1412, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 97, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000097.mp4", "length": 1491, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 344, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 344, "end_frame": 540, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 540, "end_frame": 713, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 713, "end_frame": 909, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 909, "end_frame": 1085, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1085, "end_frame": 1491, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 98, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000098.mp4", "length": 1474, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 358, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 358, "end_frame": 574, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 574, "end_frame": 743, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the switch left", "start_frame": 743, "end_frame": 939, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 939, "end_frame": 1119, "skill": "Press", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, and rotated the switch left."}, {"action_text": "move to the initial position", "start_frame": 1119, "end_frame": 1474, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch, moved to the sink, rotated the switch left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the exit door and turn on the lights by pressing the light switch in the room. Then, proceed to the sink, rotate the switch left, and press the light switch again. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 99, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000099.mp4", "length": 1446, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 294, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 294, "end_frame": 529, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 529, "end_frame": 679, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the switch left", "start_frame": 679, "end_frame": 831, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 831, "end_frame": 1058, "skill": "Press", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, and rotated the switch left."}, {"action_text": "move to the initial position", "start_frame": 1058, "end_frame": 1446, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch, moved to the sink, rotated the switch left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the exit door and turn on the lights by pressing the light switch in the room. Then, proceed to the sink, rotate the switch left, and press the light switch again. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 100, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000100.mp4", "length": 1523, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 321, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 321, "end_frame": 510, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 510, "end_frame": 696, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 696, "end_frame": 896, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 896, "end_frame": 1117, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1117, "end_frame": 1523, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 101, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000101.mp4", "length": 1524, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 389, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 389, "end_frame": 717, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 717, "end_frame": 780, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}, {"action_text": "move to the switch", "start_frame": 780, "end_frame": 943, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "press the bathroom light switch", "start_frame": 943, "end_frame": 1166, "skill": "Press", "language_memory": "The robot moved to the bathroom light switch and turned on the bathroom light."}, {"action_text": "move to the initial position", "start_frame": 1166, "end_frame": 1524, "skill": "Navigate", "language_memory": "The robot moved to the bathroom light switch and turned on the bathroom light."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the bathroom light switch to turn it on, then proceed to the front of the toilet. Afterward, return to the switch and press the bathroom light switch again to turn it off, finally moving back to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 102, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000102.mp4", "length": 1396, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 381, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the toilet light switch", "start_frame": 381, "end_frame": 601, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 601, "end_frame": 704, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the toilet light."}, {"action_text": "move to the switch", "start_frame": 704, "end_frame": 836, "skill": "Navigate", "language_memory": "The robot moved to the switch, turned on the toilet light, and positioned itself in front of the toilet."}, {"action_text": "press the bathroom light switch", "start_frame": 836, "end_frame": 1013, "skill": "Press", "language_memory": "The robot moved to the toilet light switch and turned it on."}, {"action_text": "move to the initial position", "start_frame": 1013, "end_frame": 1396, "skill": "Navigate", "language_memory": "The robot moved to the switch and pressed the toilet light switch, then moved to the front of the toilet, returned to the switch, and pressed the bathroom light switch."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the toilet light switch, then proceed to the front of the toilet. Next, return to the switch and press the bathroom light switch. Finally, move back to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 103, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000103.mp4", "length": 1568, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 330, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 330, "end_frame": 551, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 551, "end_frame": 709, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 709, "end_frame": 961, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 961, "end_frame": 1188, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1188, "end_frame": 1568, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 104, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000104.mp4", "length": 1358, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 314, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 314, "end_frame": 554, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 554, "end_frame": 679, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 679, "end_frame": 829, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 829, "end_frame": 991, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 991, "end_frame": 1358, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 105, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000105.mp4", "length": 1445, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 335, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 335, "end_frame": 490, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 490, "end_frame": 660, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 660, "end_frame": 865, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 865, "end_frame": 1051, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1051, "end_frame": 1445, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 106, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000106.mp4", "length": 1643, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 347, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 347, "end_frame": 520, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 520, "end_frame": 688, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 688, "end_frame": 974, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 974, "end_frame": 1212, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1212, "end_frame": 1643, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 107, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000107.mp4", "length": 1549, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 336, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 336, "end_frame": 572, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 572, "end_frame": 755, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left to the switch", "start_frame": 755, "end_frame": 1001, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 1001, "end_frame": 1180, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating left toward the switch."}, {"action_text": "move to the initial position", "start_frame": 1180, "end_frame": 1549, "skill": "Navigate", "language_memory": "The robot has moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left to the switch, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the exit door and turn on the lights by pressing the switch in the room. Then, move to the sink, rotate your body left to reach the switch, and press it again to toggle the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 108, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000108.mp4", "length": 1443, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 379, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 379, "end_frame": 663, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 663, "end_frame": 752, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}, {"action_text": "move to the right until facing the switch", "start_frame": 752, "end_frame": 893, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "press the bathroom light switch", "start_frame": 893, "end_frame": 1078, "skill": "Press", "language_memory": "The robot moved to the bathroom light switch, turned on the bathroom light, and repositioned itself near the toilet and the switch."}, {"action_text": "move to the initial position", "start_frame": 1078, "end_frame": 1443, "skill": "Navigate", "language_memory": "The robot moved to the bathroom light switch and pressed it twice."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the bathroom light switch to turn it on. Then, move to the front of the toilet. Next, move to the right until facing the switch again and press the bathroom light switch to turn it off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 109, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000109.mp4", "length": 1286, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 362, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 362, "end_frame": 533, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 533, "end_frame": 635, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}, {"action_text": "move to the right until in front of the switch", "start_frame": 635, "end_frame": 751, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "press the bathroom light switch", "start_frame": 751, "end_frame": 945, "skill": "Press", "language_memory": "The robot moved to the bathroom switch, turned on the bathroom light, and navigated to the front of the toilet and the right side of the switch."}, {"action_text": "move to the initial position", "start_frame": 945, "end_frame": 1286, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom, positioned in front of the toilet and the light switch, and successfully turned on the bathroom lights."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the bathroom light switch to turn it on. Then, move to the front of the toilet. Next, move to the right until in front of the switch again and press the bathroom light switch to turn it off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 110, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000110.mp4", "length": 1571, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 336, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 336, "end_frame": 600, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 600, "end_frame": 708, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}, {"action_text": "move to the right in front of the switch", "start_frame": 708, "end_frame": 848, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "press the bathroom light switch", "start_frame": 848, "end_frame": 1162, "skill": "Press", "language_memory": "The robot moved to the bathroom switch, turned on the bathroom light, and positioned itself in front of the toilet and the switch."}, {"action_text": "move to the initial position", "start_frame": 1162, "end_frame": 1571, "skill": "Navigate", "language_memory": "The robot moved to the bathroom light switch and pressed it twice."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the bathroom light switch to turn it on, then proceed to the front of the toilet. Afterward, move to the right in front of the switch again and press the bathroom light switch to turn it off, finally returning to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 111, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000111.mp4", "length": 1527, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 394, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 394, "end_frame": 583, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 583, "end_frame": 700, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}, {"action_text": "move to the switch", "start_frame": 700, "end_frame": 784, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "press the toilet light switch", "start_frame": 784, "end_frame": 1127, "skill": "Press", "language_memory": "The robot moved to the bathroom light switch and turned on the bathroom light."}, {"action_text": "move to the initial position", "start_frame": 1127, "end_frame": 1527, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom, turned on the bathroom light, and turned on the toilet light."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the bathroom light switch, then proceed to the front of the toilet. Afterward, return to the switch to press the toilet light switch, and finally move back to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 112, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000112.mp4", "length": 1435, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 320, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 320, "end_frame": 515, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 515, "end_frame": 677, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the switch left", "start_frame": 677, "end_frame": 888, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 888, "end_frame": 1059, "skill": "Press", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, and rotated the switch left."}, {"action_text": "move to the initial position", "start_frame": 1059, "end_frame": 1435, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch, moved to the sink, rotated the switch left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the exit door and turn on the lights by pressing the light switch in the room. Then, proceed to the sink, rotate the switch left, and press the light switch again. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 113, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000113.mp4", "length": 1529, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 313, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 313, "end_frame": 547, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 547, "end_frame": 694, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left to the switch", "start_frame": 694, "end_frame": 904, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 904, "end_frame": 1121, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating left toward the switch."}, {"action_text": "move to the initial position", "start_frame": 1121, "end_frame": 1529, "skill": "Navigate", "language_memory": "The robot has moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left to the switch, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the exit door and turn on the lights by pressing the switch in the room. Then, move to the sink, rotate your body left to reach the switch, and press it again to toggle the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 114, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000114.mp4", "length": 1498, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 325, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 325, "end_frame": 568, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 568, "end_frame": 739, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 739, "end_frame": 971, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 971, "end_frame": 1165, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1165, "end_frame": 1498, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 115, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000115.mp4", "length": 1416, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 305, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 305, "end_frame": 551, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 551, "end_frame": 681, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 681, "end_frame": 866, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 866, "end_frame": 1042, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1042, "end_frame": 1416, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 116, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000116.mp4", "length": 1486, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 361, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 361, "end_frame": 552, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 552, "end_frame": 727, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left to the switch", "start_frame": 727, "end_frame": 942, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 942, "end_frame": 1128, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating left toward the switch."}, {"action_text": "move to the initial position", "start_frame": 1128, "end_frame": 1486, "skill": "Navigate", "language_memory": "The robot has moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left to the switch, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the exit door and turn on the lights by pressing the switch in the room. Then, move to the sink, rotate your body left to reach the switch, and press it again to toggle the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 117, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000117.mp4", "length": 1380, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 320, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 320, "end_frame": 541, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 541, "end_frame": 634, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}, {"action_text": "move to the right in front of the switch", "start_frame": 634, "end_frame": 777, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "press the bathroom light switch", "start_frame": 777, "end_frame": 982, "skill": "Press", "language_memory": "The robot moved to the bathroom switch, turned on the bathroom light, and positioned itself in front of the toilet and the switch."}, {"action_text": "move to the initial position", "start_frame": 982, "end_frame": 1380, "skill": "Navigate", "language_memory": "The robot moved to the bathroom light switch and pressed it twice."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the bathroom light switch to turn it on, then proceed to the front of the toilet. Afterward, move to the right in front of the switch again and press the bathroom light switch to turn it off, finally returning to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 118, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000118.mp4", "length": 1654, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 344, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 344, "end_frame": 649, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 649, "end_frame": 899, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 899, "end_frame": 1091, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 1091, "end_frame": 1255, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1255, "end_frame": 1654, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 119, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000119.mp4", "length": 1584, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 409, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 409, "end_frame": 789, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 789, "end_frame": 878, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}, {"action_text": "move to the right until in front of the switch", "start_frame": 878, "end_frame": 1027, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "press the bathroom light switch", "start_frame": 1027, "end_frame": 1215, "skill": "Press", "language_memory": "The robot moved to the bathroom switch, turned on the bathroom light, and navigated to the front of the toilet and the right side of the switch."}, {"action_text": "move to the initial position", "start_frame": 1215, "end_frame": 1584, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom, positioned in front of the toilet and the light switch, and successfully turned on the bathroom lights."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the bathroom light switch to turn it on. Then, move to the front of the toilet. Next, move to the right until in front of the switch again and press the bathroom light switch to turn it off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 120, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000120.mp4", "length": 1249, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 303, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 303, "end_frame": 481, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 481, "end_frame": 616, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}, {"action_text": "move to the right in front of the switch", "start_frame": 616, "end_frame": 746, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "press the bathroom light switch", "start_frame": 746, "end_frame": 914, "skill": "Press", "language_memory": "The robot moved to the bathroom switch, turned on the bathroom light, and positioned itself in front of the toilet and the switch."}, {"action_text": "move to the initial position", "start_frame": 914, "end_frame": 1249, "skill": "Navigate", "language_memory": "The robot moved to the bathroom light switch and pressed it twice."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the bathroom light switch to turn it on, then proceed to the front of the toilet. Afterward, move to the right in front of the switch again and press the bathroom light switch to turn it off, finally returning to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 121, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000121.mp4", "length": 1468, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 316, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 316, "end_frame": 538, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 538, "end_frame": 733, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the switch left", "start_frame": 733, "end_frame": 911, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 911, "end_frame": 1054, "skill": "Press", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, and rotated the switch left."}, {"action_text": "move to the initial position", "start_frame": 1054, "end_frame": 1468, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch, moved to the sink, rotated the switch left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the exit door and turn on the lights by pressing the light switch in the room. Then, proceed to the sink, rotate the switch left, and press the light switch again. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 122, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000122.mp4", "length": 1414, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 358, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 358, "end_frame": 590, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 590, "end_frame": 702, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}, {"action_text": "move to the switch", "start_frame": 702, "end_frame": 847, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "press the bathroom light switch", "start_frame": 847, "end_frame": 1052, "skill": "Press", "language_memory": "The robot moved to the bathroom light switch and turned on the bathroom light."}, {"action_text": "move to the initial position", "start_frame": 1052, "end_frame": 1414, "skill": "Navigate", "language_memory": "The robot moved to the bathroom light switch and turned on the bathroom light."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the bathroom light switch to turn it on, then proceed to the front of the toilet. Afterward, return to the switch and press the bathroom light switch again to turn it off, finally moving back to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 123, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000123.mp4", "length": 1546, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 328, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 328, "end_frame": 562, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 562, "end_frame": 746, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the switch left", "start_frame": 746, "end_frame": 954, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 954, "end_frame": 1153, "skill": "Press", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, and rotated the switch left."}, {"action_text": "move to the initial position", "start_frame": 1153, "end_frame": 1546, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch, moved to the sink, rotated the switch left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the exit door and turn on the lights by pressing the light switch in the room. Then, proceed to the sink, rotate the switch left, and press the light switch again. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 124, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000124.mp4", "length": 1517, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 313, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 313, "end_frame": 591, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 591, "end_frame": 815, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 815, "end_frame": 1022, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 1022, "end_frame": 1179, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1179, "end_frame": 1517, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 125, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000125.mp4", "length": 1543, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 467, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 467, "end_frame": 684, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 684, "end_frame": 751, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}, {"action_text": "move to the switch", "start_frame": 751, "end_frame": 860, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "press the toilet light switch", "start_frame": 860, "end_frame": 1112, "skill": "Press", "language_memory": "The robot moved to the bathroom light switch and turned on the bathroom light."}, {"action_text": "move to the initial position", "start_frame": 1112, "end_frame": 1543, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom, turned on the bathroom light, and turned on the toilet light."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the bathroom light switch, then proceed to the front of the toilet. Afterward, return to the switch to press the toilet light switch, and finally move back to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 126, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000126.mp4", "length": 1531, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 308, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 308, "end_frame": 544, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 544, "end_frame": 704, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the switch left", "start_frame": 704, "end_frame": 910, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 910, "end_frame": 1162, "skill": "Press", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, and rotated the switch left."}, {"action_text": "move to the initial position", "start_frame": 1162, "end_frame": 1531, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch, moved to the sink, rotated the switch left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the exit door and turn on the lights by pressing the light switch in the room. Then, proceed to the sink, rotate the switch left, and press the light switch again. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 127, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000127.mp4", "length": 1469, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 430, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 430, "end_frame": 642, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 642, "end_frame": 733, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}, {"action_text": "move to the front of the switch", "start_frame": 733, "end_frame": 824, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "press the toilet light switch", "start_frame": 824, "end_frame": 1080, "skill": "Press", "language_memory": "The robot moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "move to the initial position", "start_frame": 1080, "end_frame": 1469, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom, turned on the bathroom light, and turned on the toilet light."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the bathroom light switch to turn it on. Then, move to the front of the toilet, proceed to the front of the switch, and press the toilet light switch to turn it on. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 128, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000128.mp4", "length": 1545, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 318, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 318, "end_frame": 618, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 618, "end_frame": 772, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 772, "end_frame": 1022, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 1022, "end_frame": 1180, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1180, "end_frame": 1545, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 129, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000129.mp4", "length": 1483, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 290, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 290, "end_frame": 534, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 534, "end_frame": 709, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the switch left", "start_frame": 709, "end_frame": 938, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 938, "end_frame": 1123, "skill": "Press", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, and rotated the switch left."}, {"action_text": "move to the initial position", "start_frame": 1123, "end_frame": 1483, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch, moved to the sink, rotated the switch left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the exit door and turn on the lights by pressing the light switch in the room. Then, proceed to the sink, rotate the switch left, and press the light switch again. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 130, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000130.mp4", "length": 1453, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 313, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 313, "end_frame": 562, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 562, "end_frame": 726, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 726, "end_frame": 879, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 879, "end_frame": 1058, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1058, "end_frame": 1453, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 131, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000131.mp4", "length": 1541, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 391, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 391, "end_frame": 645, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 645, "end_frame": 753, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}, {"action_text": "move to the front of the switch", "start_frame": 753, "end_frame": 892, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "press the bathroom light switch", "start_frame": 892, "end_frame": 1177, "skill": "Press", "language_memory": "The robot moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "move to the initial position", "start_frame": 1177, "end_frame": 1541, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the bathroom light switch to turn it on, then proceed to the front of the toilet. Afterward, return to the front of the switch and press the bathroom light switch again to turn it off, finally moving back to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 132, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000132.mp4", "length": 1519, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 311, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 311, "end_frame": 547, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 547, "end_frame": 708, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the switch left", "start_frame": 708, "end_frame": 963, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 963, "end_frame": 1123, "skill": "Press", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, and rotated the switch left."}, {"action_text": "move to the initial position", "start_frame": 1123, "end_frame": 1519, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch, moved to the sink, rotated the switch left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the exit door and turn on the lights by pressing the light switch in the room. Then, proceed to the sink, rotate the switch left, and press the light switch again. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 133, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000133.mp4", "length": 1470, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 319, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 319, "end_frame": 539, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 539, "end_frame": 745, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 745, "end_frame": 927, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 927, "end_frame": 1125, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1125, "end_frame": 1470, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 134, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000134.mp4", "length": 1465, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 365, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 365, "end_frame": 580, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 580, "end_frame": 683, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}, {"action_text": "move to the right in front of the switch", "start_frame": 683, "end_frame": 873, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "press the bathroom light switch", "start_frame": 873, "end_frame": 1108, "skill": "Press", "language_memory": "The robot moved to the bathroom switch, turned on the bathroom light, and positioned itself in front of the toilet and the switch."}, {"action_text": "move to the initial position", "start_frame": 1108, "end_frame": 1465, "skill": "Navigate", "language_memory": "The robot moved to the bathroom light switch and pressed it twice."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the bathroom light switch to turn it on, then proceed to the front of the toilet. Afterward, move to the right in front of the switch again and press the bathroom light switch to turn it off, finally returning to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 135, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000135.mp4", "length": 1512, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 323, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the light switch in the room", "start_frame": 323, "end_frame": 610, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the sink", "start_frame": 610, "end_frame": 769, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the lights in the room."}, {"action_text": "rotate the body left", "start_frame": 769, "end_frame": 935, "skill": "Rotate", "language_memory": "The robot has moved to the switch, turned on the lights, and moved to the sink."}, {"action_text": "press the light switch", "start_frame": 935, "end_frame": 1144, "skill": "Press", "language_memory": "The robot moved to the switch, turned on the lights, and then moved to the sink before rotating its body left."}, {"action_text": "move to the initial position", "start_frame": 1144, "end_frame": 1512, "skill": "Navigate", "language_memory": "The robot moved to the switch, pressed the light switch in the room, moved to the sink, rotated its body left, and pressed the light switch again."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the light switch in the room to turn the lights on. Then, move to the sink, rotate your body left, and press the light switch again to turn the lights off. Finally, return to the initial position."]}
{"task_id": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001", "episode_index": 136, "video_path": "Enter_Exit_Door_Turn_On_Off_lights_20250620_001/videos/chunk-000/{video_key}/episode_000136.mp4", "length": 1420, "action_config": [{"action_text": "move to the switch", "start_frame": 0, "end_frame": 364, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "press the bathroom light switch", "start_frame": 364, "end_frame": 553, "skill": "Press", "language_memory": "The robot has moved to the switch."}, {"action_text": "move to the front of the toilet", "start_frame": 553, "end_frame": 662, "skill": "Navigate", "language_memory": "The robot has moved to the switch and turned on the bathroom light."}, {"action_text": "move to the switch", "start_frame": 662, "end_frame": 832, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom switch and turned on the bathroom light."}, {"action_text": "press the toilet light switch", "start_frame": 832, "end_frame": 1005, "skill": "Press", "language_memory": "The robot moved to the bathroom light switch and turned on the bathroom light."}, {"action_text": "move to the initial position", "start_frame": 1005, "end_frame": 1420, "skill": "Navigate", "language_memory": "The robot has moved to the bathroom, turned on the bathroom light, and turned on the toilet light."}], "tasks": ["enter exit door turn on off lights"], "detailed_task_instruction": ["Move to the switch and press the bathroom light switch, then proceed to the front of the toilet. Afterward, return to the switch to press the toilet light switch, and finally move back to the initial position."]}
{"task_id": "Organize_Potato_Chip_Shelves_20250701_003", "episode_index": 0, "video_path": "Organize_Potato_Chip_Shelves_20250701_003/videos/chunk-000/{video_key}/episode_000000.mp4", "length": 1200, "action_config": [{"action_text": "pick up the first bag of chips from the right on the second shelf within view", "start_frame": 0, "end_frame": 248, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the basket", "start_frame": 248, "end_frame": 343, "skill": "Aim", "language_memory": "The robot has picked up the first bag of chips from the right on the second shelf within view."}, {"action_text": "place the chips in the basket", "start_frame": 343, "end_frame": 644, "skill": "Place", "language_memory": "The robot has picked up the first bag of chips from the right on the second shelf and is currently aiming at the basket."}, {"action_text": "pick up the chips", "start_frame": 644, "end_frame": 826, "skill": "Pick", "language_memory": "The robot picked up a bag of chips from the right side of the second shelf and placed it in the basket."}, {"action_text": "aim at the second level of the shelf", "start_frame": 826, "end_frame": 1013, "skill": "Aim", "language_memory": "The robot picked up a bag of chips from the second shelf and placed it in the basket."}, {"action_text": "place the chips back to their original position", "start_frame": 1013, "end_frame": 1200, "skill": "Place", "language_memory": "The robot has successfully transferred a bag of chips from the second shelf on the right to the basket."}], "tasks": ["organize potato chip shelves"], "detailed_task_instruction": ["Organize the potato chip shelves by first picking up the first bag of chips from the right on the second shelf within view. Move the bag to the basket, then pick it up again and aim for the second level of the shelf. Finally, place the chips back to their original position on the shelf."]}
{"task_id": "Organize_Potato_Chip_Shelves_20250701_003", "episode_index": 1, "video_path": "Organize_Potato_Chip_Shelves_20250701_003/videos/chunk-000/{video_key}/episode_000001.mp4", "length": 932, "action_config": [{"action_text": "pick up the first bag of chips from the left on the second shelf within view", "start_frame": 0, "end_frame": 193, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the basket", "start_frame": 193, "end_frame": 271, "skill": "Aim", "language_memory": "The robot has picked up the first bag of chips from the left on the second shelf."}, {"action_text": "place the chips in the basket", "start_frame": 271, "end_frame": 467, "skill": "Place", "language_memory": "The robot has picked up the first bag of chips from the left on the second shelf and is currently aiming at the basket."}, {"action_text": "pick up the chips", "start_frame": 467, "end_frame": 640, "skill": "Pick", "language_memory": "The robot picked up a bag of chips from the second shelf and placed it in the basket."}, {"action_text": "aim at the shelf", "start_frame": 640, "end_frame": 765, "skill": "Aim", "language_memory": "The robot picked up a bag of chips from the second shelf and placed it in the basket."}, {"action_text": "place the chips on their original position", "start_frame": 765, "end_frame": 932, "skill": "Place", "language_memory": "The robot has successfully transferred a bag of chips from the second shelf to the basket."}], "tasks": ["organize potato chip shelves"], "detailed_task_instruction": ["Organize the potato chip shelves by first picking up the first bag of chips from the left on the second shelf within view. Move the bag to the basket and place it inside. Then, retrieve the bag from the basket and aim for the shelf. Finally, place the chips back on their original position on the shelf."]}
{"task_id": "Organize_Potato_Chip_Shelves_20250701_003", "episode_index": 2, "video_path": "Organize_Potato_Chip_Shelves_20250701_003/videos/chunk-000/{video_key}/episode_000002.mp4", "length": 931, "action_config": [{"action_text": "pick up the fourth bag of chips from the left on the second shelf within view", "start_frame": 0, "end_frame": 245, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the basket", "start_frame": 245, "end_frame": 329, "skill": "Aim", "language_memory": "The robot has picked up the fourth bag of chips from the left on the second shelf."}, {"action_text": "place the chips in the basket", "start_frame": 329, "end_frame": 493, "skill": "Place", "language_memory": "The robot has picked up the fourth bag of chips from the left on the second shelf and is currently aiming at the basket."}, {"action_text": "pick up the chips", "start_frame": 493, "end_frame": 616, "skill": "Pick", "language_memory": "The robot picked up the fourth bag of chips from the left on the second shelf and placed it in the basket."}, {"action_text": "aim at the shelf", "start_frame": 616, "end_frame": 746, "skill": "Aim", "language_memory": "The robot picked up the fourth bag of chips from the left on the second shelf and placed it in the basket."}, {"action_text": "place the chips back to their original position", "start_frame": 746, "end_frame": 931, "skill": "Place", "language_memory": "The robot picked up a bag of chips from the second shelf and placed it in the basket."}], "tasks": ["organize potato chip shelves"], "detailed_task_instruction": ["Organize the potato chip shelves by first picking up the fourth bag of chips from the left on the second shelf within view. Move to the basket and place the chips inside. Then, pick up the chips from the basket, aim at the shelf, and place the chips back to their original position."]}
{"task_id": "Organize_Potato_Chip_Shelves_20250701_003", "episode_index": 3, "video_path": "Organize_Potato_Chip_Shelves_20250701_003/videos/chunk-000/{video_key}/episode_000003.mp4", "length": 1455, "action_config": [{"action_text": "pick up the third snack from the left on the second shelf from the bottom in view", "start_frame": 0, "end_frame": 340, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the basket", "start_frame": 340, "end_frame": 474, "skill": "Aim", "language_memory": "The robot picked up the third snack from the left on the second shelf from the bottom."}, {"action_text": "place the snack in the basket", "start_frame": 474, "end_frame": 714, "skill": "Place", "language_memory": "The robot picked up the third snack from the left on the second shelf from the bottom and aimed at the basket."}, {"action_text": "pick up the snack", "start_frame": 714, "end_frame": 890, "skill": "Pick", "language_memory": "The robot picked up a snack from the second shelf from the bottom and placed it in the basket."}, {"action_text": "aim at the shelf", "start_frame": 890, "end_frame": 1005, "skill": "Aim", "language_memory": "The robot picked up a snack from the second shelf from the bottom, placed it in the basket, and then picked up another snack."}, {"action_text": "place the snack back to its original position", "start_frame": 1005, "end_frame": 1455, "skill": "Place", "language_memory": "The robot picked up a snack from the second shelf from the bottom and placed it in the basket."}], "tasks": ["organize potato chip shelves"], "detailed_task_instruction": ["Organize the potato chip shelves by first picking up the third snack from the left on the second shelf from the bottom in view, then placing it into the basket. Afterward, retrieve the snack from the basket and return it to its original position on the shelf."]}
{"task_id": "Organize_Potato_Chip_Shelves_20250701_003", "episode_index": 4, "video_path": "Organize_Potato_Chip_Shelves_20250701_003/videos/chunk-000/{video_key}/episode_000004.mp4", "length": 949, "action_config": [{"action_text": "pick up the third bag of chips from the left on the second shelf within view", "start_frame": 0, "end_frame": 237, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the basket", "start_frame": 237, "end_frame": 305, "skill": "Aim", "language_memory": "The robot picked up the third bag of chips from the left on the second shelf."}, {"action_text": "place the chips in the basket", "start_frame": 305, "end_frame": 497, "skill": "Place", "language_memory": "The robot has picked up the third bag of chips from the left on the second shelf and is currently aiming at the basket."}, {"action_text": "pick up the chips", "start_frame": 497, "end_frame": 677, "skill": "Pick", "language_memory": "The robot picked up the third bag of chips from the left on the second shelf and placed it in the basket."}, {"action_text": "aim at the shelf", "start_frame": 677, "end_frame": 794, "skill": "Aim", "language_memory": "The robot picked up the third bag of chips from the left on the second shelf and placed it in the basket."}, {"action_text": "place the chips back to their original position", "start_frame": 794, "end_frame": 949, "skill": "Place", "language_memory": "The robot picked up a bag of chips from the second shelf and placed it in the basket."}], "tasks": ["organize potato chip shelves"], "detailed_task_instruction": ["Organize the potato chip shelves by first picking up the third bag of chips from the left on the second shelf within view. Move the bag to the basket and place it inside. Then, retrieve the chips from the basket and aim for the shelf. Finally, place the chips back into their original position on the shelf."]}
{"task_id": "Organize_Potato_Chip_Shelves_20250701_003", "episode_index": 5, "video_path": "Organize_Potato_Chip_Shelves_20250701_003/videos/chunk-000/{video_key}/episode_000005.mp4", "length": 1123, "action_config": [{"action_text": "pick up the first bag of chips from the right on the second shelf within view", "start_frame": 0, "end_frame": 221, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the basket", "start_frame": 221, "end_frame": 298, "skill": "Aim", "language_memory": "The robot has picked up the first bag of chips from the right on the second shelf within view."}, {"action_text": "place the chips in the basket", "start_frame": 298, "end_frame": 518, "skill": "Place", "language_memory": "The robot has picked up the first bag of chips from the right on the second shelf and is currently aiming at the basket."}, {"action_text": "pick up the chips", "start_frame": 518, "end_frame": 679, "skill": "Pick", "language_memory": "The robot picked up a bag of chips from the right side of the second shelf and placed it in the basket."}, {"action_text": "aim at the second level of the shelf", "start_frame": 679, "end_frame": 843, "skill": "Aim", "language_memory": "The robot picked up a bag of chips from the second shelf and placed it in the basket."}, {"action_text": "place the chips on their original position", "start_frame": 843, "end_frame": 1123, "skill": "Place", "language_memory": "The robot has successfully transferred a bag of chips from the second shelf on the right to the basket."}], "tasks": ["organize potato chip shelves"], "detailed_task_instruction": ["Organize the potato chip shelves by first picking up the first bag of chips from the right on the second shelf within view. Move the bag to the basket and place it inside. Then, pick up the chips from the basket and aim for the second level of the shelf. Finally, place the chips back on their original position to complete the organization."]}
{"task_id": "Organize_Potato_Chip_Shelves_20250701_003", "episode_index": 6, "video_path": "Organize_Potato_Chip_Shelves_20250701_003/videos/chunk-000/{video_key}/episode_000006.mp4", "length": 917, "action_config": [{"action_text": "pick up the first snack from the left on the second shelf within view", "start_frame": 0, "end_frame": 178, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the basket", "start_frame": 178, "end_frame": 258, "skill": "Aim", "language_memory": "The robot has picked up the first snack from the left on the second shelf within view."}, {"action_text": "place the snack in the basket", "start_frame": 258, "end_frame": 422, "skill": "Place", "language_memory": "The robot has picked up the first snack from the left on the second shelf and is currently aiming at the basket."}, {"action_text": "pick up the snack", "start_frame": 422, "end_frame": 617, "skill": "Pick", "language_memory": "The robot picked up a snack from the second shelf and placed it in the basket."}, {"action_text": "aim at the shelf", "start_frame": 617, "end_frame": 714, "skill": "Aim", "language_memory": "The robot picked up a snack from the second shelf and placed it in the basket."}, {"action_text": "place the snack back to its original position", "start_frame": 714, "end_frame": 917, "skill": "Place", "language_memory": "The robot has successfully transferred a snack from the second shelf to the basket."}], "tasks": ["organize potato chip shelves"], "detailed_task_instruction": ["Organize the potato chip shelves by first picking up the first snack from the left on the second shelf within view. Aim at the basket and place the snack inside. Then, pick up the snack again, aim at the shelf, and place it back to its original position."]}
{"task_id": "Organize_Potato_Chip_Shelves_20250701_003", "episode_index": 7, "video_path": "Organize_Potato_Chip_Shelves_20250701_003/videos/chunk-000/{video_key}/episode_000007.mp4", "length": 1539, "action_config": [{"action_text": "pick up the first snack from the left on the bottom shelf within view", "start_frame": 0, "end_frame": 380, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the basket", "start_frame": 380, "end_frame": 516, "skill": "Aim", "language_memory": "The robot has picked up the first snack from the left on the bottom shelf within view."}, {"action_text": "place the snack in the basket", "start_frame": 516, "end_frame": 820, "skill": "Place", "language_memory": "The robot has picked up the first snack from the left on the bottom shelf and is currently aiming at the basket."}, {"action_text": "pick up the snack", "start_frame": 820, "end_frame": 1020, "skill": "Pick", "language_memory": "The robot picked up a snack from the bottom shelf and placed it in the basket."}, {"action_text": "aim at the shelf", "start_frame": 1020, "end_frame": 1164, "skill": "Aim", "language_memory": "The robot has successfully transferred a snack from the bottom shelf to the basket and is currently holding another snack."}, {"action_text": "place the snack back to its original position", "start_frame": 1164, "end_frame": 1539, "skill": "Place", "language_memory": "The robot picked up a snack from the bottom shelf and placed it in the basket."}], "tasks": ["organize potato chip shelves"], "detailed_task_instruction": ["Organize the potato chip shelves by first picking up the first snack from the left on the bottom shelf within view. Move this snack to the basket, then return it to its original position on the shelf. Repeat this sequence of picking up the next snack from the left on the bottom shelf, placing it in the basket, and returning it to its original spot until all visible snacks on that shelf have been processed."]}
{"task_id": "Organize_Potato_Chip_Shelves_20250701_003", "episode_index": 8, "video_path": "Organize_Potato_Chip_Shelves_20250701_003/videos/chunk-000/{video_key}/episode_000008.mp4", "length": 883, "action_config": [{"action_text": "pick up the third snack from the left on the second shelf within view", "start_frame": 0, "end_frame": 213, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the basket", "start_frame": 213, "end_frame": 275, "skill": "Aim", "language_memory": "The robot picked up the third snack from the left on the second shelf within view."}, {"action_text": "place the snack in the basket", "start_frame": 275, "end_frame": 464, "skill": "Place", "language_memory": "The robot has picked up the third snack from the left on the second shelf and is currently aiming at the basket."}, {"action_text": "pick up the snack", "start_frame": 464, "end_frame": 612, "skill": "Pick", "language_memory": "The robot picked up the third snack from the left on the second shelf and placed it in the basket."}, {"action_text": "aim at the shelf", "start_frame": 612, "end_frame": 739, "skill": "Aim", "language_memory": "The robot picked up a snack from the second shelf and placed it in the basket."}, {"action_text": "place the snack back to its original position", "start_frame": 739, "end_frame": 883, "skill": "Place", "language_memory": "The robot has successfully transferred a snack from the second shelf to the basket."}], "tasks": ["organize potato chip shelves"], "detailed_task_instruction": ["Organize the potato chip shelves by first picking up the third snack from the left on the second shelf within view. Aim at the basket and place the snack there. Next, pick up the snack again, aim at the shelf, and place it back to its original position."]}
{"task_id": "Organize_Potato_Chip_Shelves_20250701_003", "episode_index": 9, "video_path": "Organize_Potato_Chip_Shelves_20250701_003/videos/chunk-000/{video_key}/episode_000009.mp4", "length": 1034, "action_config": [{"action_text": "pick up the second bag of chips from the right on the second shelf within view", "start_frame": 0, "end_frame": 197, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the basket", "start_frame": 197, "end_frame": 277, "skill": "Aim", "language_memory": "The robot picked up the second bag of chips from the right on the second shelf within view."}, {"action_text": "place the chips in the basket", "start_frame": 277, "end_frame": 516, "skill": "Place", "language_memory": "The robot has picked up the second bag of chips from the right on the second shelf and is currently aiming at the basket."}, {"action_text": "pick up the chips", "start_frame": 516, "end_frame": 683, "skill": "Pick", "language_memory": "The robot picked up the second bag of chips from the right on the second shelf and placed it in the basket."}, {"action_text": "aim at the second shelf level", "start_frame": 683, "end_frame": 858, "skill": "Aim", "language_memory": "The robot picked up a bag of chips from the second shelf and placed it in the basket."}, {"action_text": "place the chips on their original position", "start_frame": 858, "end_frame": 1034, "skill": "Place", "language_memory": "The robot has picked up a bag of chips from the second shelf on the right and placed it into the basket."}], "tasks": ["organize potato chip shelves"], "detailed_task_instruction": ["Organize the potato chip shelves by first picking up the second bag of chips from the right on the second shelf within view. Move this bag to the basket, then return to the shelf to pick up the remaining chips. Aim for the second shelf level and place these chips back on their original positions to complete the organization."]}
{"task_id": "Organize_Potato_Chip_Shelves_20250701_003", "episode_index": 10, "video_path": "Organize_Potato_Chip_Shelves_20250701_003/videos/chunk-000/{video_key}/episode_000010.mp4", "length": 1099, "action_config": [{"action_text": "pick up the second snack from the left on the first shelf within view", "start_frame": 0, "end_frame": 131, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the basket", "start_frame": 131, "end_frame": 214, "skill": "Aim", "language_memory": "The robot picked up the second snack from the left on the first shelf within view."}, {"action_text": "place the snack in the basket", "start_frame": 214, "end_frame": 550, "skill": "Place", "language_memory": "The robot has picked up the second snack from the left on the first shelf and is currently aiming at the basket."}, {"action_text": "pick up the snack", "start_frame": 550, "end_frame": 698, "skill": "Pick", "language_memory": "The robot picked up the second snack from the left on the first shelf and placed it in the basket."}, {"action_text": "aim at the first shelf in view", "start_frame": 698, "end_frame": 962, "skill": "Aim", "language_memory": "The robot picked up the second snack from the left on the first shelf, aimed at the basket, placed the snack in the basket, and picked up another snack."}, {"action_text": "place the snack back to its original position", "start_frame": 962, "end_frame": 1099, "skill": "Place", "language_memory": "The robot picked up a snack from the first shelf and placed it into the basket."}], "tasks": ["organize potato chip shelves"], "detailed_task_instruction": ["Organize the potato chip shelves by first picking up the second snack from the left on the first shelf within view, aiming at the basket, and placing the snack there. Next, pick up the snack from the basket, aim at the first shelf in view, and place the snack back to its original position."]}
{"task_id": "Organize_Potato_Chip_Shelves_20250701_003", "episode_index": 11, "video_path": "Organize_Potato_Chip_Shelves_20250701_003/videos/chunk-000/{video_key}/episode_000011.mp4", "length": 837, "action_config": [{"action_text": "pick up the first snack from the left on the second shelf within view", "start_frame": 0, "end_frame": 172, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the basket", "start_frame": 172, "end_frame": 246, "skill": "Aim", "language_memory": "The robot has picked up the first snack from the left on the second shelf within view."}, {"action_text": "place the snack in the basket", "start_frame": 246, "end_frame": 457, "skill": "Place", "language_memory": "The robot has picked up the first snack from the left on the second shelf and is currently aiming at the basket."}, {"action_text": "pick up the snack", "start_frame": 457, "end_frame": 614, "skill": "Pick", "language_memory": "The robot picked up a snack from the second shelf and placed it in the basket."}, {"action_text": "aim at the shelf", "start_frame": 614, "end_frame": 706, "skill": "Aim", "language_memory": "The robot picked up a snack from the second shelf and placed it in the basket."}, {"action_text": "place the snack on its original position", "start_frame": 706, "end_frame": 837, "skill": "Place", "language_memory": "The robot has successfully transferred a snack from the second shelf to the basket."}], "tasks": ["organize potato chip shelves"], "detailed_task_instruction": ["Organize the potato chip shelves by systematically processing snacks from the second shelf within view. Begin by picking up the first snack located on the left side of the shelf. Move to the basket and place the snack inside. Immediately retrieve the snack from the basket, aim back at the shelf, and return the snack to its original position. Repeat this sequence of picking up, transferring to the basket, and returning to the correct spot for each subsequent snack on the shelf until the organization is complete."]}
{"task_id": "Organize_Potato_Chip_Shelves_20250701_003", "episode_index": 12, "video_path": "Organize_Potato_Chip_Shelves_20250701_003/videos/chunk-000/{video_key}/episode_000012.mp4", "length": 864, "action_config": [{"action_text": "pick up the fourth bag of chips from the left on the second shelf within view", "start_frame": 0, "end_frame": 187, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the basket", "start_frame": 187, "end_frame": 273, "skill": "Aim", "language_memory": "The robot has picked up the fourth bag of chips from the left on the second shelf."}, {"action_text": "place the chips in the basket", "start_frame": 273, "end_frame": 429, "skill": "Place", "language_memory": "The robot has picked up the fourth bag of chips from the left on the second shelf and is currently aiming at the basket."}, {"action_text": "pick up the chips", "start_frame": 429, "end_frame": 568, "skill": "Pick", "language_memory": "The robot picked up the fourth bag of chips from the left on the second shelf and placed it in the basket."}, {"action_text": "aim at the shelf", "start_frame": 568, "end_frame": 688, "skill": "Aim", "language_memory": "The robot picked up the fourth bag of chips from the left on the second shelf and placed it in the basket."}, {"action_text": "place the chips on their original position", "start_frame": 688, "end_frame": 864, "skill": "Place", "language_memory": "The robot picked up a bag of chips from the second shelf and placed it in the basket."}], "tasks": ["organize potato chip shelves"], "detailed_task_instruction": ["Organize the potato chip shelves by first picking up the fourth bag of chips from the left on the second shelf within view. Place this bag into a nearby basket. Next, retrieve the chips from the basket and aim toward the shelf. Finally, place the chips back onto their original position on the shelf to complete the organization."]}
{"task_id": "Organize_Potato_Chip_Shelves_20250701_003", "episode_index": 13, "video_path": "Organize_Potato_Chip_Shelves_20250701_003/videos/chunk-000/{video_key}/episode_000013.mp4", "length": 1444, "action_config": [{"action_text": "pick up the first bag of chips from the left on the second shelf in view", "start_frame": 0, "end_frame": 148, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the first bag of chips from the left on the second shelf within view", "start_frame": 148, "end_frame": 420, "skill": "Pick", "language_memory": "The robot has picked up the first bag of chips from the left on the second shelf."}, {"action_text": "aim at the basket", "start_frame": 420, "end_frame": 468, "skill": "Aim", "language_memory": "The robot has picked up two bags of chips from the left side of the second shelf."}, {"action_text": "place the chips in the basket", "start_frame": 468, "end_frame": 752, "skill": "Place", "language_memory": "The robot has picked up two bags of chips from the left side of the second shelf and is currently aiming at the basket."}, {"action_text": "pick up the chips", "start_frame": 752, "end_frame": 981, "skill": "Pick", "language_memory": "The robot has picked up two bags of chips from the second shelf and placed them in the basket."}, {"action_text": "aim at the second shelf level", "start_frame": 981, "end_frame": 1196, "skill": "Aim", "language_memory": "The robot has picked up bags of chips from the second shelf and placed them in the basket."}, {"action_text": "place the chips back to their original position", "start_frame": 1196, "end_frame": 1444, "skill": "Place", "language_memory": "The robot has picked up bags of chips from the second shelf and placed them into a basket."}], "tasks": ["organize potato chip shelves"], "detailed_task_instruction": ["Organize the potato chip shelves by first picking up the first bag of chips from the left on the second shelf within view. Aim at the basket and place the chips there. Next, pick up the chips again, aim at the second shelf level, and place the chips back to their original position."]}
{"task_id": "Organize_Potato_Chip_Shelves_20250701_003", "episode_index": 14, "video_path": "Organize_Potato_Chip_Shelves_20250701_003/videos/chunk-000/{video_key}/episode_000014.mp4", "length": 1149, "action_config": [{"action_text": "pick up the first beverage from the left on the third shelf in view", "start_frame": 0, "end_frame": 217, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the basket", "start_frame": 217, "end_frame": 312, "skill": "Aim", "language_memory": "The robot picked up the first beverage from the left on the third shelf."}, {"action_text": "place the snack in the basket", "start_frame": 312, "end_frame": 559, "skill": "Place", "language_memory": "The robot picked up the first beverage from the left on the third shelf and aimed at the basket."}, {"action_text": "pick up the snack", "start_frame": 559, "end_frame": 753, "skill": "Pick", "language_memory": "The robot picked up a beverage from the third shelf and placed a snack in the basket."}, {"action_text": "aim at the shelf", "start_frame": 753, "end_frame": 917, "skill": "Aim", "language_memory": "The robot picked up a beverage from the third shelf, aimed at the basket, placed a snack in the basket, and picked up another snack."}, {"action_text": "place the snack back to its original position", "start_frame": 917, "end_frame": 1149, "skill": "Place", "language_memory": "The robot picked up a beverage from the third shelf, placed a snack in the basket, and picked up another snack."}], "tasks": ["organize potato chip shelves"], "detailed_task_instruction": ["Organize the potato chip shelves by first picking up the first beverage located on the left side of the third shelf in view. Aim at the basket and place the snack inside it. Next, pick up the snack from the basket, aim at the shelf, and place the snack back into its original position to complete the organization."]}
{"task_id": "Organize_Potato_Chip_Shelves_20250701_003", "episode_index": 15, "video_path": "Organize_Potato_Chip_Shelves_20250701_003/videos/chunk-000/{video_key}/episode_000015.mp4", "length": 1352, "action_config": [{"action_text": "pick up the second snack from the left on the bottom shelf in view", "start_frame": 0, "end_frame": 261, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the basket", "start_frame": 261, "end_frame": 389, "skill": "Aim", "language_memory": "The robot picked up the second snack from the left on the bottom shelf."}, {"action_text": "place the snack in the basket", "start_frame": 389, "end_frame": 695, "skill": "Place", "language_memory": "The robot picked up the second snack from the left on the bottom shelf and aimed at the basket."}, {"action_text": "pick up the snack", "start_frame": 695, "end_frame": 846, "skill": "Pick", "language_memory": "The robot picked up the second snack from the left on the bottom shelf and placed it in the basket."}, {"action_text": "aim at the shelf", "start_frame": 846, "end_frame": 969, "skill": "Aim", "language_memory": "The robot picked up a snack from the bottom shelf and placed it in the basket."}, {"action_text": "place the snack back to its original position", "start_frame": 969, "end_frame": 1352, "skill": "Place", "language_memory": "The robot picked up a snack from the bottom shelf and placed it into the basket."}], "tasks": ["organize potato chip shelves"], "detailed_task_instruction": ["Organize the potato chip shelves by first picking up the second snack from the left on the bottom shelf in view, aiming at the basket, and placing the snack there. Next, pick up the snack from the basket, aim at the shelf, and place the snack back to its original position."]}
{"task_id": "Organize_Potato_Chip_Shelves_20250701_003", "episode_index": 16, "video_path": "Organize_Potato_Chip_Shelves_20250701_003/videos/chunk-000/{video_key}/episode_000016.mp4", "length": 929, "action_config": [{"action_text": "pick up the second snack from the left on the second shelf within view", "start_frame": 0, "end_frame": 194, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the basket", "start_frame": 194, "end_frame": 281, "skill": "Aim", "language_memory": "The robot picked up the second snack from the left on the second shelf within view."}, {"action_text": "place the snack in the basket", "start_frame": 281, "end_frame": 446, "skill": "Place", "language_memory": "The robot has picked up the second snack from the left on the second shelf and is currently aiming at the basket."}, {"action_text": "pick up the snack", "start_frame": 446, "end_frame": 636, "skill": "Pick", "language_memory": "The robot picked up the second snack from the left on the second shelf and placed it in the basket."}, {"action_text": "aim at the shelf", "start_frame": 636, "end_frame": 761, "skill": "Aim", "language_memory": "The robot picked up the second snack from the left on the second shelf, aimed at the basket, placed the snack in the basket, and picked up another snack."}, {"action_text": "place the snack in its original position", "start_frame": 761, "end_frame": 929, "skill": "Place", "language_memory": "The robot picked up a snack from the second shelf and placed it into the basket."}], "tasks": ["organize potato chip shelves"], "detailed_task_instruction": ["Organize the potato chip shelves by first picking up the second snack from the left on the second shelf within view. Move this snack to the basket, then return to the shelf to place it back in its original position. Afterward, pick up the next snack and repeat the process of moving it to the basket and returning it to its designated spot on the shelf until the organization is complete."]}
{"task_id": "Organize_Potato_Chip_Shelves_20250701_003", "episode_index": 17, "video_path": "Organize_Potato_Chip_Shelves_20250701_003/videos/chunk-000/{video_key}/episode_000017.mp4", "length": 878, "action_config": [{"action_text": "pick up the first bag of chips from the right on the second shelf within view", "start_frame": 0, "end_frame": 150, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the basket", "start_frame": 150, "end_frame": 231, "skill": "Aim", "language_memory": "The robot has picked up the first bag of chips from the right on the second shelf within view."}, {"action_text": "place the chips in the basket", "start_frame": 231, "end_frame": 437, "skill": "Place", "language_memory": "The robot has picked up the first bag of chips from the right on the second shelf and is currently aiming at the basket."}, {"action_text": "pick up the chip", "start_frame": 437, "end_frame": 565, "skill": "Pick", "language_memory": "The robot picked up a bag of chips from the right side of the second shelf and placed it in the basket."}, {"action_text": "aim at the second level of the shelf", "start_frame": 565, "end_frame": 730, "skill": "Aim", "language_memory": "The robot has successfully transferred a bag of chips from the second shelf to the basket and is currently holding another chip bag."}, {"action_text": "place the snack back to its original position", "start_frame": 730, "end_frame": 878, "skill": "Place", "language_memory": "The robot has successfully transferred a bag of chips from the second shelf on the right to the basket."}], "tasks": ["organize potato chip shelves"], "detailed_task_instruction": ["Organize the potato chip shelves by first picking up the first bag of chips from the right on the second shelf within view and placing it into the basket. Next, pick up the chip, aim at the second level of the shelf, and place the snack back to its original position."]}
{"task_id": "Organize_Potato_Chip_Shelves_20250701_003", "episode_index": 18, "video_path": "Organize_Potato_Chip_Shelves_20250701_003/videos/chunk-000/{video_key}/episode_000018.mp4", "length": 1066, "action_config": [{"action_text": "pick up the fourth popcorn from the left on the third shelf within view", "start_frame": 0, "end_frame": 141, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the basket", "start_frame": 141, "end_frame": 221, "skill": "Aim", "language_memory": "The robot has picked up the fourth popcorn from the left on the third shelf within view."}, {"action_text": "place the popcorn in the basket", "start_frame": 221, "end_frame": 474, "skill": "Place", "language_memory": "The robot has picked up the fourth popcorn from the left on the third shelf and is currently aiming at the basket."}, {"action_text": "pick up the popcorn", "start_frame": 474, "end_frame": 679, "skill": "Pick", "language_memory": "The robot picked up the fourth popcorn from the left on the third shelf and placed it in the basket."}, {"action_text": "aim at the shelf", "start_frame": 679, "end_frame": 845, "skill": "Aim", "language_memory": "The robot has successfully picked up the fourth popcorn from the left on the third shelf, aimed at the basket, placed the popcorn in the basket, and picked up the popcorn."}, {"action_text": "place the popcorn on its original position", "start_frame": 845, "end_frame": 1066, "skill": "Place", "language_memory": "The robot has successfully transferred four popcorn items from the third shelf to the basket."}], "tasks": ["organize potato chip shelves"], "detailed_task_instruction": ["Organize the potato chip shelves by first picking up the fourth popcorn from the left on the third shelf within view. Move this popcorn to the basket, then return it to its original position on the shelf."]}
{"task_id": "Organize_Potato_Chip_Shelves_20250701_003", "episode_index": 19, "video_path": "Organize_Potato_Chip_Shelves_20250701_003/videos/chunk-000/{video_key}/episode_000019.mp4", "length": 854, "action_config": [{"action_text": "pick up the second bag of chips from the left on the third shelf within view", "start_frame": 0, "end_frame": 201, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the basket", "start_frame": 201, "end_frame": 254, "skill": "Aim", "language_memory": "The robot picked up the second bag of chips from the left on the third shelf."}, {"action_text": "place the chips in the basket", "start_frame": 254, "end_frame": 405, "skill": "Place", "language_memory": "The robot has picked up the second bag of chips from the left on the third shelf and is currently aiming at the basket."}, {"action_text": "pick up the chips", "start_frame": 405, "end_frame": 583, "skill": "Pick", "language_memory": "The robot picked up the second bag of chips from the left on the third shelf and placed it in the basket."}, {"action_text": "aim at the shelf", "start_frame": 583, "end_frame": 692, "skill": "Aim", "language_memory": "The robot picked up a bag of chips from the third shelf and placed it in the basket."}, {"action_text": "place the chips on their original position", "start_frame": 692, "end_frame": 854, "skill": "Place", "language_memory": "The robot picked up a bag of chips from the third shelf and placed it in the basket."}], "tasks": ["organize potato chip shelves"], "detailed_task_instruction": ["Organize the potato chip shelves by first picking up the second bag of chips from the left on the third shelf within view. Place this bag into a nearby basket. Next, pick up the remaining chips and aim at the shelf to place them back on their original positions."]}
{"task_id": "Organize_Potato_Chip_Shelves_20250701_003", "episode_index": 20, "video_path": "Organize_Potato_Chip_Shelves_20250701_003/videos/chunk-000/{video_key}/episode_000020.mp4", "length": 862, "action_config": [{"action_text": "pick up the third bag of chips from the left on the third shelf within view", "start_frame": 0, "end_frame": 190, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the basket", "start_frame": 190, "end_frame": 245, "skill": "Aim", "language_memory": "The robot picked up the third bag of chips from the left on the third shelf within view."}, {"action_text": "place the chips in the basket", "start_frame": 245, "end_frame": 399, "skill": "Place", "language_memory": "The robot has picked up the third bag of chips from the left on the third shelf and is currently aiming at the basket."}, {"action_text": "pick up the chips", "start_frame": 399, "end_frame": 558, "skill": "Pick", "language_memory": "The robot picked up the third bag of chips from the left on the third shelf and placed it in the basket."}, {"action_text": "aim at the shelf", "start_frame": 558, "end_frame": 683, "skill": "Aim", "language_memory": "The robot picked up a bag of chips from the third shelf and placed it in the basket."}, {"action_text": "place the chips on their original position", "start_frame": 683, "end_frame": 862, "skill": "Place", "language_memory": "The robot picked up a bag of chips from the third shelf and placed it in the basket."}], "tasks": ["organize potato chip shelves"], "detailed_task_instruction": ["Organize the potato chip shelves by first picking up the third bag of chips from the left on the third shelf within view. Move the bag to the basket and place it there. Then, retrieve the chips from the basket and aim at the shelf. Finally, place the chips back on their original position to complete the organization."]}
{"task_id": "Organize_Potato_Chip_Shelves_20250701_003", "episode_index": 21, "video_path": "Organize_Potato_Chip_Shelves_20250701_003/videos/chunk-000/{video_key}/episode_000021.mp4", "length": 1086, "action_config": [{"action_text": "pick up the second snack from the left on the second shelf within view", "start_frame": 0, "end_frame": 212, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the basket", "start_frame": 212, "end_frame": 298, "skill": "Aim", "language_memory": "The robot picked up the second snack from the left on the second shelf within view."}, {"action_text": "place the snack in the basket", "start_frame": 298, "end_frame": 556, "skill": "Place", "language_memory": "The robot has picked up the second snack from the left on the second shelf and is currently aiming at the basket."}, {"action_text": "pick up the snack", "start_frame": 556, "end_frame": 723, "skill": "Pick", "language_memory": "The robot picked up the second snack from the left on the second shelf and placed it in the basket."}, {"action_text": "aim at the shelf", "start_frame": 723, "end_frame": 857, "skill": "Aim", "language_memory": "The robot picked up the second snack from the left on the second shelf, aimed at the basket, placed the snack in the basket, and picked up another snack."}, {"action_text": "place the snack back to its original position", "start_frame": 857, "end_frame": 1086, "skill": "Place", "language_memory": "The robot picked up a snack from the second shelf and placed it into the basket."}], "tasks": ["organize potato chip shelves"], "detailed_task_instruction": ["Organize the potato chip shelves by first picking up the second snack from the left on the second shelf within view. Move this snack to the basket, then return it to its original position on the shelf."]}
{"task_id": "Organize_Potato_Chip_Shelves_20250701_003", "episode_index": 22, "video_path": "Organize_Potato_Chip_Shelves_20250701_003/videos/chunk-000/{video_key}/episode_000022.mp4", "length": 949, "action_config": [{"action_text": "pick up the third snack from the left on the third shelf within view", "start_frame": 0, "end_frame": 200, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the basket", "start_frame": 200, "end_frame": 271, "skill": "Aim", "language_memory": "The robot picked up the third snack from the left on the third shelf within view."}, {"action_text": "place the snack in the basket", "start_frame": 271, "end_frame": 463, "skill": "Place", "language_memory": "The robot has picked up the third snack from the left on the third shelf and is currently aiming at the basket."}, {"action_text": "pick up the snack", "start_frame": 463, "end_frame": 610, "skill": "Pick", "language_memory": "The robot picked up the third snack from the left on the third shelf and placed it in the basket."}, {"action_text": "aim at the shelf", "start_frame": 610, "end_frame": 728, "skill": "Aim", "language_memory": "The robot picked up a snack from the third shelf and placed it in the basket."}, {"action_text": "place the snack back to its original position", "start_frame": 728, "end_frame": 949, "skill": "Place", "language_memory": "The robot picked up a snack from the third shelf and placed it into the basket."}], "tasks": ["organize potato chip shelves"], "detailed_task_instruction": ["Organize the potato chip shelves by first picking up the third snack from the left on the third shelf within view. Move this snack to the basket, then return it to its original position on the shelf."]}
{"task_id": "Organize_Potato_Chip_Shelves_20250701_003", "episode_index": 23, "video_path": "Organize_Potato_Chip_Shelves_20250701_003/videos/chunk-000/{video_key}/episode_000023.mp4", "length": 1153, "action_config": [{"action_text": "pick up the first bag of chips from the left on the third shelf within view", "start_frame": 0, "end_frame": 239, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the basket", "start_frame": 239, "end_frame": 345, "skill": "Aim", "language_memory": "The robot has picked up the first bag of chips from the left on the third shelf."}, {"action_text": "place the chips in the basket", "start_frame": 345, "end_frame": 606, "skill": "Place", "language_memory": "The robot has picked up the first bag of chips from the left on the third shelf and is currently aiming at the basket."}, {"action_text": "pick up the chips", "start_frame": 606, "end_frame": 803, "skill": "Pick", "language_memory": "The robot picked up a bag of chips from the third shelf and placed it in the basket."}, {"action_text": "aim at the shelf", "start_frame": 803, "end_frame": 986, "skill": "Aim", "language_memory": "The robot picked up a bag of chips from the third shelf and placed it in the basket."}, {"action_text": "place the chips on their original position", "start_frame": 986, "end_frame": 1153, "skill": "Place", "language_memory": "The robot has successfully transferred a bag of chips from the third shelf to the basket."}], "tasks": ["organize potato chip shelves"], "detailed_task_instruction": ["Organize the potato chip shelves by first picking up the first bag of chips from the left on the third shelf within view. Move the bag to the basket and place it there. Retrieve the bag from the basket, aim at the shelf, and return the chips to their original position on the third shelf."]}
{"task_id": "Organize_Potato_Chip_Shelves_20250701_003", "episode_index": 24, "video_path": "Organize_Potato_Chip_Shelves_20250701_003/videos/chunk-000/{video_key}/episode_000024.mp4", "length": 1200, "action_config": [{"action_text": "pick up the first snack from the left on the third shelf in view", "start_frame": 0, "end_frame": 214, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the basket", "start_frame": 214, "end_frame": 287, "skill": "Aim", "language_memory": "The robot picked up the first snack from the left on the third shelf."}, {"action_text": "place the snack in the basket", "start_frame": 287, "end_frame": 524, "skill": "Place", "language_memory": "The robot has picked up the first snack from the left on the third shelf and is currently aiming at the basket."}, {"action_text": "pick up the snack", "start_frame": 524, "end_frame": 795, "skill": "Pick", "language_memory": "The robot picked up a snack from the third shelf and placed it in the basket."}, {"action_text": "aim at the shelf", "start_frame": 795, "end_frame": 931, "skill": "Aim", "language_memory": "The robot picked up a snack from the third shelf, placed it in the basket, and picked up another snack."}, {"action_text": "place the snack back to its original position", "start_frame": 931, "end_frame": 1200, "skill": "Place", "language_memory": "The robot has successfully transferred a snack from the third shelf to the basket."}], "tasks": ["organize potato chip shelves"], "detailed_task_instruction": ["Organize the potato chip shelves by first picking up the first snack from the left on the third shelf in view, aiming at the basket, and placing the snack inside. Then, pick up the snack again, aim at the shelf, and place it back to its original position."]}
{"task_id": "Organize_Potato_Chip_Shelves_20250701_003", "episode_index": 25, "video_path": "Organize_Potato_Chip_Shelves_20250701_003/videos/chunk-000/{video_key}/episode_000025.mp4", "length": 881, "action_config": [{"action_text": "pick up the second snack from the left on the third shelf within view", "start_frame": 0, "end_frame": 142, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the basket", "start_frame": 142, "end_frame": 207, "skill": "Aim", "language_memory": "The robot picked up the second snack from the left on the third shelf within view."}, {"action_text": "place the snack in the basket", "start_frame": 207, "end_frame": 391, "skill": "Place", "language_memory": "The robot picked up the second snack from the left on the third shelf and aimed at the basket."}, {"action_text": "pick up the snack", "start_frame": 391, "end_frame": 559, "skill": "Pick", "language_memory": "The robot picked up the second snack from the left on the third shelf and placed it in the basket."}, {"action_text": "aim at the shelf", "start_frame": 559, "end_frame": 699, "skill": "Aim", "language_memory": "The robot picked up the second snack from the left on the third shelf, aimed at the basket, placed the snack in the basket, and picked up another snack."}, {"action_text": "place the snack back to its original position", "start_frame": 699, "end_frame": 881, "skill": "Place", "language_memory": "The robot picked up a snack from the third shelf and placed it in the basket."}], "tasks": ["organize potato chip shelves"], "detailed_task_instruction": ["Organize the potato chip shelves by first picking up the second snack from the left on the third shelf within view. Aim at the basket and place the snack there. Next, pick up the snack from the basket, aim at the shelf, and place it back to its original position."]}
{"task_id": "Organize_Potato_Chip_Shelves_20250701_003", "episode_index": 26, "video_path": "Organize_Potato_Chip_Shelves_20250701_003/videos/chunk-000/{video_key}/episode_000026.mp4", "length": 942, "action_config": [{"action_text": "pick up the third snack from the left on the third shelf within view", "start_frame": 0, "end_frame": 157, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "place the snack in the basket", "start_frame": 157, "end_frame": 442, "skill": "Place", "language_memory": "The robot picked up the third snack from the left on the third shelf within view."}, {"action_text": "pick up the snack", "start_frame": 442, "end_frame": 593, "skill": "Pick", "language_memory": "The robot picked up the third snack from the left on the third shelf and placed it in the basket."}, {"action_text": "aim at the shelf", "start_frame": 593, "end_frame": 717, "skill": "Aim", "language_memory": "The robot has picked up two snacks from the third shelf and placed them in the basket, with a third snack currently being picked up."}, {"action_text": "place the snack on its original position", "start_frame": 717, "end_frame": 942, "skill": "Place", "language_memory": "The robot has picked up two snacks from the third shelf and placed them in the basket, while currently aiming at the shelf."}], "tasks": ["organize potato chip shelves"], "detailed_task_instruction": ["Organize the potato chip shelves by first picking up the third snack from the left on the third shelf within view and placing it into a basket. Next, pick up the remaining snack, aim at the shelf, and place it back on its original position."]}
{"task_id": "Organize_Potato_Chip_Shelves_20250701_003", "episode_index": 27, "video_path": "Organize_Potato_Chip_Shelves_20250701_003/videos/chunk-000/{video_key}/episode_000027.mp4", "length": 1484, "action_config": [{"action_text": "pick up the first lay's snack from the left on the first shelf in view", "start_frame": 0, "end_frame": 286, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the basket", "start_frame": 286, "end_frame": 385, "skill": "Aim", "language_memory": "The robot has picked up the first Lay's snack from the left on the first shelf."}, {"action_text": "place the oishi into the basket", "start_frame": 385, "end_frame": 752, "skill": "Place", "language_memory": "The robot has picked up a Lay's snack from the left side of the first shelf and is currently aiming at the basket."}, {"action_text": "pick up the oishi", "start_frame": 752, "end_frame": 985, "skill": "Pick", "language_memory": "The robot picked up a Lay's snack from the first shelf and placed an Oishi snack into the basket."}, {"action_text": "aim at the first shelf in view", "start_frame": 985, "end_frame": 1268, "skill": "Aim", "language_memory": "The robot picked up a Lay's snack from the first shelf, aimed at the basket, placed an Oishi snack into the basket, and picked up the Oishi snack."}, {"action_text": "place the oishi on its original position", "start_frame": 1268, "end_frame": 1484, "skill": "Place", "language_memory": "The robot picked up a Lay's snack and an Oishi snack from the first shelf and placed the Oishi into the basket."}], "tasks": ["organize potato chip shelves"], "detailed_task_instruction": ["Organize the potato chip shelves by first picking up the first Lay's snack from the left on the first shelf in view and placing it into the basket. Next, pick up the Oishi chips, aim at the first shelf in view, and place the Oishi back on its original position."]}
{"task_id": "Organize_Potato_Chip_Shelves_20250701_003", "episode_index": 28, "video_path": "Organize_Potato_Chip_Shelves_20250701_003/videos/chunk-000/{video_key}/episode_000028.mp4", "length": 793, "action_config": [{"action_text": "pick up the first snack from the left on the third shelf within view", "start_frame": 0, "end_frame": 140, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the basket", "start_frame": 140, "end_frame": 199, "skill": "Aim", "language_memory": "The robot has picked up the first snack from the left on the third shelf within view."}, {"action_text": "place the snack in the basket", "start_frame": 199, "end_frame": 357, "skill": "Place", "language_memory": "The robot has picked up the first snack from the left on the third shelf and is currently aiming at the basket."}, {"action_text": "pick up the snack", "start_frame": 357, "end_frame": 499, "skill": "Pick", "language_memory": "The robot picked up a snack from the third shelf and placed it in the basket."}, {"action_text": "aim at the shelf", "start_frame": 499, "end_frame": 600, "skill": "Aim", "language_memory": "The robot picked up a snack from the third shelf and placed it in the basket."}, {"action_text": "place the snack back to its original position", "start_frame": 600, "end_frame": 793, "skill": "Place", "language_memory": "The robot picked up a snack from the third shelf and placed it in the basket."}], "tasks": ["organize potato chip shelves"], "detailed_task_instruction": ["Organize the potato chip shelves by first picking up the first snack from the left on the third shelf within view. Aim at the basket and place the snack inside. Then, pick up the snack again, aim at the shelf, and place it back to its original position."]}
{"task_id": "Organize_Potato_Chip_Shelves_20250701_003", "episode_index": 29, "video_path": "Organize_Potato_Chip_Shelves_20250701_003/videos/chunk-000/{video_key}/episode_000029.mp4", "length": 1074, "action_config": [{"action_text": "pick up the first shanghai jia from the left on the second shelf within view", "start_frame": 0, "end_frame": 246, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the basket", "start_frame": 246, "end_frame": 331, "skill": "Aim", "language_memory": "The robot picked up the first Shanghai Jia from the left on the second shelf within view."}, {"action_text": "place the oishi into the basket", "start_frame": 331, "end_frame": 536, "skill": "Place", "language_memory": "The robot picked up the first Shanghai Jia from the left on the second shelf and aimed at the basket."}, {"action_text": "pick up the oishi", "start_frame": 536, "end_frame": 717, "skill": "Pick", "language_memory": "The robot picked up a Shanghai Jia chip bag from the second shelf and placed an Oishi chip bag into the basket."}, {"action_text": "aim at the second level of the shelf", "start_frame": 717, "end_frame": 898, "skill": "Aim", "language_memory": "The robot picked up the first Shanghai Jia from the left on the second shelf, aimed at the basket, placed the Oishi into the basket, and picked up the Oishi."}, {"action_text": "place the oishi back to its original position", "start_frame": 898, "end_frame": 1074, "skill": "Place", "language_memory": "The robot picked up a Shanghai Jia from the second shelf, placed an Oishi into the basket, and then picked up the Oishi while aiming at the second shelf level."}], "tasks": ["organize potato chip shelves"], "detailed_task_instruction": ["Organize the potato chip shelves by first picking up the first Shanghai Jia from the left on the second shelf within view and placing it into the basket. Next, pick up the Oishi chip bag, aim at the second level of the shelf, and place the Oishi back to its original position."]}
{"task_id": "Organize_Potato_Chip_Shelves_20250701_003", "episode_index": 30, "video_path": "Organize_Potato_Chip_Shelves_20250701_003/videos/chunk-000/{video_key}/episode_000030.mp4", "length": 1156, "action_config": [{"action_text": "pick up the first snack from the right on the first shelf within view", "start_frame": 0, "end_frame": 160, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the basket", "start_frame": 160, "end_frame": 259, "skill": "Aim", "language_memory": "The robot has picked up the first snack from the right on the first shelf within view."}, {"action_text": "place the snack in the basket", "start_frame": 259, "end_frame": 574, "skill": "Place", "language_memory": "The robot has picked up the first snack from the right on the first shelf and is currently aiming at the basket."}, {"action_text": "pick up the snack", "start_frame": 574, "end_frame": 767, "skill": "Pick", "language_memory": "The robot picked up a snack from the right side of the first shelf and placed it in the basket."}, {"action_text": "aim at the shelf", "start_frame": 767, "end_frame": 1023, "skill": "Aim", "language_memory": "The robot picked up a snack from the right on the first shelf and placed it in the basket."}, {"action_text": "place the snack back to its original position", "start_frame": 1023, "end_frame": 1156, "skill": "Place", "language_memory": "The robot has successfully transferred a snack from the first shelf to the basket."}], "tasks": ["organize potato chip shelves"], "detailed_task_instruction": ["Organize the potato chip shelves by first picking up the rightmost snack from the first visible shelf, aiming at the basket, and placing the snack inside. Then, pick up the snack again, aim at the shelf, and place it back to its original position. Repeat this sequence of picking up the rightmost snack from the first visible shelf, transferring it to the basket, and returning it to its original spot until the shelf is organized."]}
{"task_id": "Organize_Potato_Chip_Shelves_20250701_003", "episode_index": 31, "video_path": "Organize_Potato_Chip_Shelves_20250701_003/videos/chunk-000/{video_key}/episode_000031.mp4", "length": 894, "action_config": [{"action_text": "pick up the third snack from the left on the second shelf in view", "start_frame": 0, "end_frame": 144, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the basket", "start_frame": 144, "end_frame": 208, "skill": "Aim", "language_memory": "The robot picked up the third snack from the left on the second shelf."}, {"action_text": "place the snack in the basket", "start_frame": 208, "end_frame": 390, "skill": "Place", "language_memory": "The robot has picked up the third snack from the left on the second shelf and is currently aiming at the basket."}, {"action_text": "pick up the snack", "start_frame": 390, "end_frame": 584, "skill": "Pick", "language_memory": "The robot picked up the third snack from the left on the second shelf and placed it in the basket."}, {"action_text": "aim at the shelf", "start_frame": 584, "end_frame": 701, "skill": "Aim", "language_memory": "The robot picked up a snack from the second shelf and placed it in the basket."}, {"action_text": "place the snack in its original position", "start_frame": 701, "end_frame": 894, "skill": "Place", "language_memory": "The robot picked up a snack from the second shelf and placed it into the basket."}], "tasks": ["organize potato chip shelves"], "detailed_task_instruction": ["Organize the potato chip shelves by first picking up the third snack from the left on the second shelf in view, aiming at the basket, and placing the snack inside. Then, pick up the snack again, aim at the shelf, and place it back in its original position to complete the organization."]}
{"task_id": "Organize_Potato_Chip_Shelves_20250701_003", "episode_index": 32, "video_path": "Organize_Potato_Chip_Shelves_20250701_003/videos/chunk-000/{video_key}/episode_000032.mp4", "length": 1389, "action_config": [{"action_text": "pick up the fourth snack from the left on the second shelf from the bottom", "start_frame": 0, "end_frame": 334, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the basket", "start_frame": 334, "end_frame": 504, "skill": "Aim", "language_memory": "The robot picked up the fourth snack from the left on the second shelf from the bottom."}, {"action_text": "place the snack in the basket", "start_frame": 504, "end_frame": 748, "skill": "Place", "language_memory": "The robot picked up the fourth snack from the left on the second shelf from the bottom and aimed at the basket."}, {"action_text": "pick up the snack", "start_frame": 748, "end_frame": 917, "skill": "Pick", "language_memory": "The robot picked up the fourth snack from the left on the second shelf from the bottom and placed it in the basket."}, {"action_text": "aim at the shelf", "start_frame": 917, "end_frame": 1045, "skill": "Aim", "language_memory": "The robot picked up a snack from the second shelf from the bottom and placed it in the basket."}, {"action_text": "place the snack back to its original position", "start_frame": 1045, "end_frame": 1389, "skill": "Place", "language_memory": "The robot picked up a snack from the second shelf from the bottom and placed it in the basket."}], "tasks": ["organize potato chip shelves"], "detailed_task_instruction": ["Organize the potato chip shelves by first picking up the fourth snack from the left on the second shelf from the bottom and placing it into the basket. Then, retrieve that same snack from the basket and return it to its original position on the shelf."]}
{"task_id": "Organize_Potato_Chip_Shelves_20250701_003", "episode_index": 33, "video_path": "Organize_Potato_Chip_Shelves_20250701_003/videos/chunk-000/{video_key}/episode_000033.mp4", "length": 1162, "action_config": [{"action_text": "pick up the first oishi item from the left on the second shelf in view", "start_frame": 0, "end_frame": 204, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the basket", "start_frame": 204, "end_frame": 277, "skill": "Aim", "language_memory": "The robot picked up the first Oishi item from the left on the second shelf."}, {"action_text": "place the oishi into the basket", "start_frame": 277, "end_frame": 595, "skill": "Place", "language_memory": "The robot picked up the first Oishi item from the left on the second shelf and aimed at the basket."}, {"action_text": "pick up the oishi", "start_frame": 595, "end_frame": 779, "skill": "Pick", "language_memory": "The robot picked up an Oishi item from the second shelf and placed it into the basket."}, {"action_text": "aim at the shelf", "start_frame": 779, "end_frame": 964, "skill": "Aim", "language_memory": "The robot picked up an Oishi item from the second shelf and placed it into the basket."}, {"action_text": "place the oishi on its original position", "start_frame": 964, "end_frame": 1162, "skill": "Place", "language_memory": "The robot picked up an Oishi item from the second shelf and placed it into the basket."}], "tasks": ["organize potato chip shelves"], "detailed_task_instruction": ["Organize the potato chip shelves by first locating the first Oishi item on the left side of the second shelf in view. Pick up this item and place it into the basket. Afterward, retrieve the Oishi item from the basket and return it to its original position on the shelf."]}
{"task_id": "Organize_Potato_Chip_Shelves_20250701_003", "episode_index": 34, "video_path": "Organize_Potato_Chip_Shelves_20250701_003/videos/chunk-000/{video_key}/episode_000034.mp4", "length": 853, "action_config": [{"action_text": "pick up the fifth bag of chips from the left on the second shelf within view", "start_frame": 0, "end_frame": 174, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the basket", "start_frame": 174, "end_frame": 283, "skill": "Aim", "language_memory": "The robot picked up the fifth bag of chips from the left on the second shelf."}, {"action_text": "place the chips in the basket", "start_frame": 283, "end_frame": 411, "skill": "Place", "language_memory": "The robot has picked up the fifth bag of chips from the left on the second shelf and is currently aiming at the basket."}, {"action_text": "pick up the chips", "start_frame": 411, "end_frame": 551, "skill": "Pick", "language_memory": "The robot picked up the fifth bag of chips from the left on the second shelf and placed it in the basket."}, {"action_text": "aim at the shelf", "start_frame": 551, "end_frame": 673, "skill": "Aim", "language_memory": "The robot picked up a bag of chips from the second shelf and placed it in the basket."}, {"action_text": "place the chips on their original position", "start_frame": 673, "end_frame": 853, "skill": "Place", "language_memory": "The robot picked up a bag of chips from the second shelf and placed it in the basket."}], "tasks": ["organize potato chip shelves"], "detailed_task_instruction": ["Organize the potato chip shelves by first picking up the fifth bag of chips from the left on the second shelf within view. Move the bag to the basket and place it there. Then, retrieve the chips from the basket and aim at the shelf. Finally, place the chips back on their original position to complete the organization."]}
{"task_id": "Organize_Potato_Chip_Shelves_20250701_003", "episode_index": 35, "video_path": "Organize_Potato_Chip_Shelves_20250701_003/videos/chunk-000/{video_key}/episode_000035.mp4", "length": 1303, "action_config": [{"action_text": "pick up the octopus-shaped snack from the second shelf", "start_frame": 0, "end_frame": 286, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the basket", "start_frame": 286, "end_frame": 401, "skill": "Aim", "language_memory": "The robot has picked up the octopus-shaped snack from the second shelf."}, {"action_text": "place the takoyaki in the basket", "start_frame": 401, "end_frame": 627, "skill": "Place", "language_memory": "The robot has picked up an octopus-shaped snack from the second shelf and is aiming at the basket."}, {"action_text": "pick up the takoyaki", "start_frame": 627, "end_frame": 781, "skill": "Pick", "language_memory": "The robot picked up an octopus-shaped snack from the second shelf and placed it in the basket."}, {"action_text": "aim at the shelf", "start_frame": 781, "end_frame": 887, "skill": "Aim", "language_memory": "The robot has picked up an octopus-shaped snack and a takoyaki, placed the takoyaki in the basket, and is currently aiming at the basket."}, {"action_text": "place the takoyaki on its original position", "start_frame": 887, "end_frame": 1303, "skill": "Place", "language_memory": "The robot has successfully moved an octopus-shaped snack and a takoyaki from the second shelf to the basket."}], "tasks": ["organize potato chip shelves"], "detailed_task_instruction": ["Organize the potato chip shelves by first picking up the octopus-shaped snack from the second shelf and placing it into the basket. Next, retrieve the takoyaki from the basket, aim at the shelf, and place it back on its original position."]}
{"task_id": "Organize_Potato_Chip_Shelves_20250701_003", "episode_index": 36, "video_path": "Organize_Potato_Chip_Shelves_20250701_003/videos/chunk-000/{video_key}/episode_000036.mp4", "length": 1038, "action_config": [{"action_text": "pick up the second bag of chips from the left on the second shelf within view", "start_frame": 0, "end_frame": 182, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the basket", "start_frame": 182, "end_frame": 264, "skill": "Aim", "language_memory": "The robot picked up the second bag of chips from the left on the second shelf within view."}, {"action_text": "place the chips in the basket", "start_frame": 264, "end_frame": 428, "skill": "Place", "language_memory": "The robot has picked up the second bag of chips from the left on the second shelf and is currently aiming at the basket."}, {"action_text": "pick up the chips", "start_frame": 428, "end_frame": 505, "skill": "Pick", "language_memory": "The robot picked up the second bag of chips from the left on the second shelf and placed it in the basket."}, {"action_text": "pick up the potato chip", "start_frame": 505, "end_frame": 639, "skill": "Pick", "language_memory": "The robot picked up a bag of chips from the second shelf and placed it in the basket."}, {"action_text": "aim at the shelf", "start_frame": 639, "end_frame": 778, "skill": "Aim", "language_memory": "The robot has picked up multiple bags of potato chips from the second shelf and placed them into a basket."}, {"action_text": "place the chips back to their original position", "start_frame": 778, "end_frame": 1038, "skill": "Place", "language_memory": "The robot has organized potato chip shelves by picking up multiple bags of chips and placing them into a basket."}], "tasks": ["organize potato chip shelves"], "detailed_task_instruction": ["Organize the potato chip shelves by first picking up the second bag of chips from the left on the second shelf within view and placing it into the basket. Next, pick up the remaining chips and the individual potato chip, then aim at the shelf to place all items back to their original positions."]}
{"task_id": "Organize_Potato_Chip_Shelves_20250701_003", "episode_index": 37, "video_path": "Organize_Potato_Chip_Shelves_20250701_003/videos/chunk-000/{video_key}/episode_000037.mp4", "length": 1144, "action_config": [{"action_text": "pick up the fifth popcorn from the left on the second shelf in view", "start_frame": 0, "end_frame": 227, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the basket", "start_frame": 227, "end_frame": 318, "skill": "Aim", "language_memory": "The robot picked up the fifth popcorn from the left on the second shelf."}, {"action_text": "place the popcorn in the basket", "start_frame": 318, "end_frame": 526, "skill": "Place", "language_memory": "The robot has picked up the fifth popcorn from the left on the second shelf and is currently aiming at the basket."}, {"action_text": "pick up the popcorn", "start_frame": 526, "end_frame": 691, "skill": "Pick", "language_memory": "The robot picked up the fifth popcorn from the left on the second shelf and placed it in the basket."}, {"action_text": "aim at the shelf", "start_frame": 691, "end_frame": 802, "skill": "Aim", "language_memory": "The robot has successfully picked up the fifth popcorn from the left on the second shelf, aimed at the basket, placed the popcorn in the basket, and picked up the popcorn."}, {"action_text": "place the popcorn on its original position", "start_frame": 802, "end_frame": 1144, "skill": "Place", "language_memory": "The robot has successfully transferred five popcorn items from the second shelf to the basket."}], "tasks": ["organize potato chip shelves"], "detailed_task_instruction": ["Organize the potato chip shelves by first picking up the fifth popcorn from the left on the second shelf in view. Move this popcorn to the basket, then return it to its original position on the shelf."]}
{"task_id": "Organize_Potato_Chip_Shelves_20250701_003", "episode_index": 38, "video_path": "Organize_Potato_Chip_Shelves_20250701_003/videos/chunk-000/{video_key}/episode_000038.mp4", "length": 1201, "action_config": [{"action_text": "pick up the second bag of chips from the right on the first shelf within view", "start_frame": 0, "end_frame": 177, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the basket", "start_frame": 177, "end_frame": 256, "skill": "Aim", "language_memory": "The robot has picked up the second bag of chips from the right on the first shelf within view."}, {"action_text": "place the chips in the basket", "start_frame": 256, "end_frame": 583, "skill": "Place", "language_memory": "The robot has picked up the second bag of chips from the right on the first shelf and is currently aiming at the basket."}, {"action_text": "pick up the chips", "start_frame": 583, "end_frame": 773, "skill": "Pick", "language_memory": "The robot picked up the second bag of chips from the right on the first shelf and placed it in the basket."}, {"action_text": "aim at the first shelf in view", "start_frame": 773, "end_frame": 1071, "skill": "Aim", "language_memory": "The robot picked up a bag of chips from the first shelf and placed it in the basket."}, {"action_text": "place the chips on their original position", "start_frame": 1071, "end_frame": 1201, "skill": "Place", "language_memory": "The robot has picked up a bag of chips from the first shelf and placed it in the basket."}], "tasks": ["organize potato chip shelves"], "detailed_task_instruction": ["Organize the potato chip shelves by first picking up the second bag of chips from the right on the first shelf within view. Move this bag to the basket, then return to the first shelf to pick up the remaining chips. Finally, place all the chips back onto their original positions on the first shelf."]}
{"task_id": "Organize_Potato_Chip_Shelves_20250701_003", "episode_index": 39, "video_path": "Organize_Potato_Chip_Shelves_20250701_003/videos/chunk-000/{video_key}/episode_000039.mp4", "length": 872, "action_config": [{"action_text": "pick up the second snack from the left on the second shelf within view", "start_frame": 0, "end_frame": 178, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the basket", "start_frame": 178, "end_frame": 252, "skill": "Aim", "language_memory": "The robot picked up the second snack from the left on the second shelf within view."}, {"action_text": "place the snack in the basket", "start_frame": 252, "end_frame": 396, "skill": "Place", "language_memory": "The robot has picked up the second snack from the left on the second shelf and is currently aiming at the basket."}, {"action_text": "pick up the snack", "start_frame": 396, "end_frame": 517, "skill": "Pick", "language_memory": "The robot picked up the second snack from the left on the second shelf and placed it in the basket."}, {"action_text": "aim at the shelf", "start_frame": 517, "end_frame": 664, "skill": "Aim", "language_memory": "The robot picked up the second snack from the left on the second shelf, aimed at the basket, placed the snack in the basket, and picked up another snack."}, {"action_text": "place the snack back to its original position", "start_frame": 664, "end_frame": 872, "skill": "Place", "language_memory": "The robot picked up a snack from the second shelf and placed it into the basket."}], "tasks": ["organize potato chip shelves"], "detailed_task_instruction": ["Organize the potato chip shelves by first picking up the second snack from the left on the second shelf within view. Move this snack to the basket, then return it to its original position on the shelf."]}
{"task_id": "Organize_Potato_Chip_Shelves_20250701_003", "episode_index": 40, "video_path": "Organize_Potato_Chip_Shelves_20250701_003/videos/chunk-000/{video_key}/episode_000040.mp4", "length": 765, "action_config": [{"action_text": "pick up the second bag of chips from the left on the second shelf within view", "start_frame": 0, "end_frame": 138, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the basket", "start_frame": 138, "end_frame": 211, "skill": "Aim", "language_memory": "The robot picked up the second bag of chips from the left on the second shelf within view."}, {"action_text": "place the chips in the basket", "start_frame": 211, "end_frame": 354, "skill": "Place", "language_memory": "The robot has picked up the second bag of chips from the left on the second shelf and is currently aiming at the basket."}, {"action_text": "pick up the chips", "start_frame": 354, "end_frame": 480, "skill": "Pick", "language_memory": "The robot picked up the second bag of chips from the left on the second shelf and placed it in the basket."}, {"action_text": "aim at the shelf", "start_frame": 480, "end_frame": 582, "skill": "Aim", "language_memory": "The robot picked up a bag of chips from the second shelf and placed it in the basket."}, {"action_text": "place the chips on their original position", "start_frame": 582, "end_frame": 765, "skill": "Place", "language_memory": "The robot picked up a bag of chips from the second shelf and placed it in the basket."}], "tasks": ["organize potato chip shelves"], "detailed_task_instruction": ["Organize the potato chip shelves by first picking up the second bag of chips from the left on the second shelf within view. Place this bag into the basket, then pick up the remaining chips. Aim at the shelf and place the chips back on their original positions to complete the organization."]}
{"task_id": "Organize_Potato_Chip_Shelves_20250701_003", "episode_index": 41, "video_path": "Organize_Potato_Chip_Shelves_20250701_003/videos/chunk-000/{video_key}/episode_000041.mp4", "length": 871, "action_config": [{"action_text": "pick up the first snack from the left on the second shelf within view", "start_frame": 0, "end_frame": 157, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the basket", "start_frame": 157, "end_frame": 232, "skill": "Aim", "language_memory": "The robot has picked up the first snack from the left on the second shelf within view."}, {"action_text": "place the snack in the basket", "start_frame": 232, "end_frame": 390, "skill": "Place", "language_memory": "The robot has picked up the first snack from the left on the second shelf and is currently aiming at the basket."}, {"action_text": "pick up the snack", "start_frame": 390, "end_frame": 576, "skill": "Pick", "language_memory": "The robot picked up a snack from the second shelf and placed it in the basket."}, {"action_text": "aim at the shelf", "start_frame": 576, "end_frame": 656, "skill": "Aim", "language_memory": "The robot picked up a snack from the second shelf and placed it in the basket."}, {"action_text": "place the snack back to its original position", "start_frame": 656, "end_frame": 871, "skill": "Place", "language_memory": "The robot has successfully transferred a snack from the second shelf to the basket."}], "tasks": ["organize potato chip shelves"], "detailed_task_instruction": ["Organize the potato chip shelves by first picking up the first snack from the left on the second shelf within view. Aim at the basket and place the snack inside. Then, pick up the snack again, aim at the shelf, and place it back to its original position."]}
{"task_id": "Organize_The_Beverage_Cooler_20250630_003", "episode_index": 0, "video_path": "Organize_The_Beverage_Cooler_20250630_003/videos/chunk-000/{video_key}/episode_000000.mp4", "length": 4078, "action_config": [{"action_text": "open the right cabinet door", "start_frame": 85, "end_frame": 473, "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the popsicle from the third grid from the right on the second layer", "start_frame": 473, "end_frame": 754, "skill": "Pick", "language_memory": "The right cabinet door has been opened."}, {"action_text": "pick up the ice pop and place it into the basket", "start_frame": 754, "end_frame": 992, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and picked up a popsicle from the second layer."}, {"action_text": "pick up the popsicle from the fourth compartment from the right on the second shelf", "start_frame": 992, "end_frame": 1438, "skill": "Pick", "language_memory": "The robot opened the right cabinet door, retrieved a popsicle from the second layer, and placed it into the basket."}, {"action_text": "pick up the popsicle and place it into the basket", "start_frame": 1438, "end_frame": 1697, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred two popsicles from the second layer to the basket."}, {"action_text": "pick up the popsicle from the second compartment from the right on the second shelf", "start_frame": 1697, "end_frame": 2100, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles from the second layer to the basket."}, {"action_text": "pick up the ice pop and place it into the basket", "start_frame": 2100, "end_frame": 2372, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred three popsicles from the second shelf into the basket."}, {"action_text": "pick up the left popsicle in the basket", "start_frame": 2372, "end_frame": 2643, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles from the second shelf to the basket."}, {"action_text": "place the ice cream bar into the third compartment from the right on the second shelf", "start_frame": 2643, "end_frame": 2913, "skill": "Place", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles from the second shelf to the basket, then picked up a popsicle from the basket."}, {"action_text": "pick up the left popsicle inside the basket", "start_frame": 2913, "end_frame": 3189, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles from the second shelf to the basket, and returned one ice cream bar to the second shelf."}, {"action_text": "place the popsicle into the fourth compartment from the right on the second shelf of the right cabinet", "start_frame": 3189, "end_frame": 3475, "skill": "Place", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles from the second shelf to the basket, and returned one ice cream bar to the third compartment from the right on the second shelf."}, {"action_text": "pick up the popsicle from the basket", "start_frame": 3475, "end_frame": 3677, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles from the cooler to a basket, and then returned them to specific compartments on the second shelf of the right cabinet."}, {"action_text": "place the popsicle into the second compartment from the right on the second shelf", "start_frame": 3677, "end_frame": 3868, "skill": "Place", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and ice pops between the cabinet shelves and the basket, and returned several items to their original compartments."}, {"action_text": "close the right cabinet door", "start_frame": 3868, "end_frame": 4078, "skill": "Close", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles between the cabinet shelves and the basket, and organized the popsicles back into specific compartments on the second shelf."}], "tasks": ["organize the beverage cooler"], "detailed_task_instruction": ["Open the right cabinet door and retrieve three popsicles from the second shelf, specifically from the third, fourth, and second compartments from the right, placing each into the basket. Next, take the left popsicle from the basket and place it into the third compartment from the right on the second shelf. Then, remove the remaining popsicle from the basket and place it into the fourth compartment from the right on the second shelf. Finally, take the last popsicle from the basket and place it into the second compartment from the right on the second shelf before closing the right cabinet door."]}
{"task_id": "Organize_The_Beverage_Cooler_20250630_003", "episode_index": 1, "video_path": "Organize_The_Beverage_Cooler_20250630_003/videos/chunk-000/{video_key}/episode_000001.mp4", "length": 4595, "action_config": [{"action_text": "open the right cabinet door", "start_frame": 0, "end_frame": 437, "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the popsicle from the third compartment from the right on the second shelf", "start_frame": 437, "end_frame": 640, "skill": "Pick", "language_memory": "The right cabinet door has been opened."}, {"action_text": "pick up the popsicle and place it into the basket", "start_frame": 640, "end_frame": 897, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and picked up a popsicle from the third compartment from the right on the second shelf."}, {"action_text": "pick up the ice pop from the fourth compartment from the right on the second shelf", "start_frame": 897, "end_frame": 1291, "skill": "Pick", "language_memory": "The robot opened the right cabinet door, retrieved a popsicle from the second shelf, and placed it into the basket."}, {"action_text": "pick up the ice pop and place it into the basket", "start_frame": 1291, "end_frame": 1542, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door, retrieved two popsicles from the second shelf, and placed one into the basket while holding the other."}, {"action_text": "pick up the popsicle from the second compartment from the right on the second shelf", "start_frame": 1542, "end_frame": 1919, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred two frozen treats from the second shelf to the basket."}, {"action_text": "pick up the popsicle and place it into the basket", "start_frame": 1919, "end_frame": 2271, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred three frozen treats from the second shelf into the basket."}, {"action_text": "pick up the middle popsicle in the basket", "start_frame": 2271, "end_frame": 2582, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred three frozen treats from the second shelf into the basket."}, {"action_text": "place the ice cream bar into the second compartment from the right on the second shelf", "start_frame": 2582, "end_frame": 2971, "skill": "Place", "language_memory": "The robot opened the right cabinet door and transferred three popsicles from the second shelf into the basket before picking up a popsicle from the basket."}, {"action_text": "pick up the right popsicle inside the basket", "start_frame": 2971, "end_frame": 3246, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and ice pops from the second shelf to the basket, subsequently placing one ice cream bar back into the second compartment from the right on the second shelf."}, {"action_text": "move to the right cabinet door", "start_frame": 3246, "end_frame": 3592, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and ice pops between the cooler shelves and the basket, including placing an ice cream bar back into the second compartment from the right on the second shelf."}, {"action_text": "pick up the popsicle inside the basket", "start_frame": 3592, "end_frame": 4046, "skill": "Pick", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and ice pops from the second shelf to the basket, rearranged items within the basket, and returned a popsicle to the second compartment on the second shelf."}, {"action_text": "place the ice cream bar into the third compartment from the right on the second shelf", "start_frame": 4046, "end_frame": 4256, "skill": "Place", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and ice pops from the cooler shelves to the basket, rearranged items within the basket, and moved a popsicle from the basket back to the second compartment from the right on the second shelf."}, {"action_text": "close the right cabinet door", "start_frame": 4256, "end_frame": 4595, "skill": "Close", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and ice cream bars from the second shelf compartments to the basket, and then returned them to the second shelf."}], "tasks": ["organize the beverage cooler"], "detailed_task_instruction": ["Open the right cabinet door of the beverage cooler. Retrieve the popsicle from the third compartment from the right on the second shelf, followed by the ice pop from the fourth compartment from the right on the second shelf, and then the popsicle from the second compartment from the right on the second shelf, placing each into the basket. Next, take the middle popsicle currently inside the basket and place it into the second compartment from the right on the second shelf. Then, remove the right popsicle from the basket and place it into the third compartment from the right on the second shelf. Finally, take the remaining popsicle from the basket and place it into the third compartment from the right on the second shelf before closing the right cabinet door."]}
{"task_id": "Organize_The_Beverage_Cooler_20250630_003", "episode_index": 2, "video_path": "Organize_The_Beverage_Cooler_20250630_003/videos/chunk-000/{video_key}/episode_000002.mp4", "length": 4753, "action_config": [{"action_text": "open the right cabinet door", "start_frame": 0, "end_frame": 405, "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the popsicle from the third grid from the right on the first layer", "start_frame": 405, "end_frame": 662, "skill": "Pick", "language_memory": "The right cabinet door has been opened."}, {"action_text": "pick up the popsicle and place it into the basket", "start_frame": 662, "end_frame": 857, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and picked up a popsicle from the first layer."}, {"action_text": "pick up the popsicle from the second compartment from the right on the first shelf", "start_frame": 857, "end_frame": 1348, "skill": "Pick", "language_memory": "The robot opened the right cabinet door, retrieved a popsicle from the first layer, and placed it into the basket."}, {"action_text": "place the ice cream stick into the basket", "start_frame": 1348, "end_frame": 1586, "skill": "Place", "language_memory": "The robot opened the right cabinet door and transferred two popsicles from the cooler to the basket."}, {"action_text": "pick up the popsicle from the first compartment on the right of the second shelf", "start_frame": 1586, "end_frame": 1843, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred two popsicles from the cooler to the basket."}, {"action_text": "pick up the popsicle from the first compartment on the right of the second shelf", "start_frame": 1843, "end_frame": 2015, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred three popsicles from the cooler to the basket."}, {"action_text": "pick up the ice pop and place it into the basket", "start_frame": 2015, "end_frame": 2272, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles from various compartments on the first and second shelves into the basket."}, {"action_text": "pick up the middle popsicle in the basket", "start_frame": 2272, "end_frame": 2626, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles from various compartments on the first and second shelves into the basket."}, {"action_text": "place the popsicle into the third compartment from the right on the first shelf of the right cabinet", "start_frame": 2626, "end_frame": 3336, "skill": "Place", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles from various compartments on the first and second shelves into the basket, followed by placing an ice cream stick into the basket and adjusting the middle popsicle within the basket."}, {"action_text": "pick up the left popsicle in the basket", "start_frame": 3336, "end_frame": 3577, "skill": "Pick", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles from the cabinet shelves to the basket, and returned one popsicle to the first shelf of the right cabinet."}, {"action_text": "place the popsicle into the second compartment from the right on the first shelf of the right cabinet", "start_frame": 3577, "end_frame": 3924, "skill": "Place", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles from the cooler to the basket, and returned one popsicle to the first shelf of the right cabinet."}, {"action_text": "pick up the popsicle from the basket", "start_frame": 3924, "end_frame": 4139, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles from the cooler to the basket, and then returned several popsicles to specific compartments on the first shelf of the right cabinet."}, {"action_text": "place the ice cream bar into the first compartment from the right on the second shelf of the right cabinet", "start_frame": 4139, "end_frame": 4341, "skill": "Place", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles from the cooler to the basket, and then returned several popsicles to specific compartments on the first shelf of the right cabinet."}, {"action_text": "close the right cabinet door", "start_frame": 4341, "end_frame": 4753, "skill": "Close", "language_memory": "The robot organized the beverage cooler by transferring multiple popsicles from the cabinet shelves to a basket and then redistributing them into specific compartments on the first and second shelves of the right cabinet."}], "tasks": ["organize the beverage cooler"], "detailed_task_instruction": ["Open the right cabinet door. Pick up the popsicle from the third grid from the right on the first layer and place it into the basket. Next, retrieve the popsicle from the second compartment from the right on the first shelf and the ice cream stick, placing both into the basket. Then, take the popsicle from the first compartment on the right of the second shelf and the ice pop, adding them to the basket as well. Organize the basket by picking up the middle popsicle and placing it into the third compartment from the right on the first shelf of the right cabinet. Pick up the left popsicle from the basket and place it into the second compartment from the right on the first shelf. Finally, pick up the remaining popsicle from the basket and place the ice cream bar into the first compartment from the right on the second shelf. Close the right cabinet door to complete the organization."]}
{"task_id": "Organize_The_Beverage_Cooler_20250630_003", "episode_index": 3, "video_path": "Organize_The_Beverage_Cooler_20250630_003/videos/chunk-000/{video_key}/episode_000003.mp4", "length": 5197, "action_config": [{"action_text": "open the right cabinet door", "start_frame": 0, "end_frame": 341, "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the popsicle from the third grid from the right on the second layer", "start_frame": 341, "end_frame": 626, "skill": "Pick", "language_memory": "The right cabinet door has been opened."}, {"action_text": "place the ice cream stick into the basket", "start_frame": 626, "end_frame": 895, "skill": "Place", "language_memory": "The robot opened the right cabinet door and picked up a popsicle from the second layer."}, {"action_text": "pick up the ice pop from the fourth compartment from the right on the second shelf", "start_frame": 895, "end_frame": 1180, "skill": "Pick", "language_memory": "The robot opened the right cabinet door, retrieved a popsicle from the second layer, and placed the ice cream stick into the basket."}, {"action_text": "pick up the ice pop and place it into the basket", "start_frame": 1180, "end_frame": 1359, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door, placed an ice cream stick into the basket, and picked up an ice pop from the second shelf."}, {"action_text": "pick up the popsicle from the second compartment from the right on the first shelf", "start_frame": 1359, "end_frame": 1760, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred multiple ice pops from the cooler shelves into the basket."}, {"action_text": "pick up the popsicle and place it into the basket", "start_frame": 1760, "end_frame": 1998, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and ice pops from the shelves into the basket."}, {"action_text": "pick up the popsicle from the fourth compartment from the right on the first shelf", "start_frame": 1998, "end_frame": 2455, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and ice pops from the shelves into the basket."}, {"action_text": "pick up the popsicle and place it into the basket", "start_frame": 2455, "end_frame": 2749, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and ice pops from various shelves into the basket."}, {"action_text": "pick up the ice cream on the left side of the basket", "start_frame": 2749, "end_frame": 2970, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and ice pops from various compartments on the first and second shelves into the basket."}, {"action_text": "place the popsicle into the fourth compartment from the right on the second shelf of the right cabinet", "start_frame": 2970, "end_frame": 3179, "skill": "Place", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and ice pops from the shelves into the basket, then picked up an ice cream from the left side of the basket."}, {"action_text": "pick up the popsicle from the basket", "start_frame": 3179, "end_frame": 3401, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and ice pops from the cabinet shelves into the basket, then returned one popsicle to the second shelf."}, {"action_text": "place the ice pop into the second compartment from the right on the first shelf", "start_frame": 3401, "end_frame": 3631, "skill": "Place", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and ice pops from the cabinet shelves to the basket, and returned one popsicle to the second shelf of the right cabinet."}, {"action_text": "pick up the popsicle from the basket", "start_frame": 3631, "end_frame": 3938, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and ice pops from the cabinet shelves to a basket, and subsequently returned several items from the basket to specific compartments on the first and second shelves of the right cabinet."}, {"action_text": "place the popsicle into the third compartment from the right on the second shelf of the right cabinet", "start_frame": 3938, "end_frame": 4270, "skill": "Place", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and ice pops from the cabinet shelves to a basket, and returned some items to the cabinet while holding a popsicle from the basket."}, {"action_text": "pick up the popsicle from the basket", "start_frame": 4270, "end_frame": 4645, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and ice pops from the shelves to the basket, and then returned several items to specific compartments within the right cabinet."}, {"action_text": "place the popsicle into the fourth compartment from the right on the first shelf", "start_frame": 4645, "end_frame": 4901, "skill": "Place", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and ice pops from the shelves to the basket, and then returned several items from the basket to specific compartments on the first and second shelves of the right cabinet."}, {"action_text": "close the right cabinet door", "start_frame": 4901, "end_frame": 5197, "skill": "Close", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and ice pops from the cooler shelves to a basket, and subsequently returned them to their original positions within the cabinet."}], "tasks": ["organize the beverage cooler"], "detailed_task_instruction": ["Open the right cabinet door. Pick up the popsicle from the third grid from the right on the second layer and place the ice cream stick into the basket. Retrieve the ice pop from the fourth compartment from the right on the second shelf and the popsicle from the second compartment from the right on the first shelf, placing both into the basket. Next, take the popsicle from the fourth compartment from the right on the first shelf and put it in the basket. Remove the ice cream currently on the left side of the basket. Return the popsicle to the fourth compartment from the right on the second shelf, the ice pop to the second compartment from the right on the first shelf, and the remaining popsicle to the third compartment from the right on the second shelf. Finally, close the right cabinet door."]}
{"task_id": "Organize_The_Beverage_Cooler_20250630_003", "episode_index": 4, "video_path": "Organize_The_Beverage_Cooler_20250630_003/videos/chunk-000/{video_key}/episode_000004.mp4", "length": 4777, "action_config": [{"action_text": "open the right cabinet door", "start_frame": 0, "end_frame": 431, "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the popsicle from the third compartment from the right on the second shelf", "start_frame": 431, "end_frame": 724, "skill": "Pick", "language_memory": "The right cabinet door has been opened."}, {"action_text": "place the ice cream stick into the basket", "start_frame": 724, "end_frame": 940, "skill": "Place", "language_memory": "The robot opened the right cabinet door and picked up a popsicle from the third compartment from the right on the second shelf."}, {"action_text": "pick up the popsicle from the fourth compartment from the right on the second shelf", "start_frame": 940, "end_frame": 1222, "skill": "Pick", "language_memory": "The robot opened the right cabinet door, retrieved a popsicle from the second shelf, and placed the ice cream stick into the basket."}, {"action_text": "pick up the popsicle and place it into the basket", "start_frame": 1222, "end_frame": 1394, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door, placed an ice cream stick into the basket, and picked up two popsicles from the second shelf."}, {"action_text": "pick up the popsicle from the fourth compartment from the right on the first shelf", "start_frame": 1394, "end_frame": 1704, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles from the second shelf to the basket."}, {"action_text": "pick up the ice pop and place it into the basket", "start_frame": 1704, "end_frame": 1923, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles from the second and first shelves into the basket."}, {"action_text": "pick up the popsicle from the second compartment from the right on the first shelf", "start_frame": 1923, "end_frame": 2354, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles from the second and first shelves into the basket."}, {"action_text": "pick up the popsicle and place it into the basket", "start_frame": 2354, "end_frame": 2605, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and an ice pop from various compartments on the first and second shelves into the basket."}, {"action_text": "pick up the second popsicle from the left in the basket", "start_frame": 2605, "end_frame": 2781, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles from various compartments on the first and second shelves into the basket."}, {"action_text": "place the ice cream bar into the fourth compartment from the right on the second shelf", "start_frame": 2781, "end_frame": 3118, "skill": "Place", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles from various compartments on the first and second shelves into the basket, then picked up a second popsicle from the basket."}, {"action_text": "pick up the popsicle from the basket", "start_frame": 3118, "end_frame": 3298, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door and organized multiple popsicles and an ice cream bar by transferring them between the cooler shelves and a basket."}, {"action_text": "place the popsicle into the second compartment from the right on the first shelf of the right cabinet", "start_frame": 3298, "end_frame": 3588, "skill": "Place", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles from the second and first shelves to the basket, and returned one ice cream bar to the second shelf."}, {"action_text": "pick up the popsicle on the right side of the basket", "start_frame": 3588, "end_frame": 3780, "skill": "Pick", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles between the cabinet shelves and the basket, and returned one popsicle to the first shelf of the right cabinet."}, {"action_text": "place the ice pop into the third compartment from the right on the second shelf of the right cabinet", "start_frame": 3780, "end_frame": 4085, "skill": "Place", "language_memory": "The robot opened the right cabinet door, organized multiple popsicles and ice cream bars by transferring them between the cabinet shelves and the basket, and placed a popsicle into the second compartment from the right on the first shelf."}, {"action_text": "pick up the popsicle from the basket", "start_frame": 4085, "end_frame": 4266, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door, organized multiple popsicles and ice pops by transferring them between the cabinet shelves and the basket, and returned several items to their designated compartments."}, {"action_text": "place the ice pop into the fourth compartment from the right on the first shelf", "start_frame": 4266, "end_frame": 4520, "skill": "Place", "language_memory": "The robot opened the right cabinet door and organized multiple popsicles and ice pops by transferring them between the cabinet shelves and the basket."}, {"action_text": "close the right cabinet door", "start_frame": 4520, "end_frame": 4777, "skill": "Close", "language_memory": "The robot opened the right cabinet door and organized multiple popsicles and ice pops by transferring them between the cabinet shelves and the basket."}], "tasks": ["organize the beverage cooler"], "detailed_task_instruction": ["Open the right cabinet door. Remove the popsicle from the third compartment on the second shelf, the popsicle from the fourth compartment on the second shelf, the popsicle from the fourth compartment on the first shelf, the ice pop from the second compartment on the first shelf, and the popsicle from the second compartment on the first shelf, placing each into the basket. Transfer the ice cream bar from the basket to the fourth compartment on the second shelf. Move the popsicle from the right side of the basket to the second compartment on the first shelf. Place the ice pop from the basket into the third compartment on the second shelf. Finally, move the remaining popsicle from the basket to the fourth compartment on the first shelf and close the right cabinet door."]}
{"task_id": "Organize_The_Beverage_Cooler_20250630_003", "episode_index": 5, "video_path": "Organize_The_Beverage_Cooler_20250630_003/videos/chunk-000/{video_key}/episode_000005.mp4", "length": 3928, "action_config": [{"action_text": "open the right cabinet door", "start_frame": 0, "end_frame": 305, "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the popsicle from the third grid from the right on the first layer", "start_frame": 305, "end_frame": 611, "skill": "Pick", "language_memory": "The right cabinet door has been opened."}, {"action_text": "pick up the popsicle and place it into the basket", "start_frame": 611, "end_frame": 794, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and picked up a popsicle from the first layer."}, {"action_text": "pick up the popsicle from the second compartment from the right on the first shelf", "start_frame": 794, "end_frame": 1155, "skill": "Pick", "language_memory": "The robot opened the right cabinet door, retrieved a popsicle from the first layer, and placed it into the basket."}, {"action_text": "pick up the popsicle and place it into the basket", "start_frame": 1155, "end_frame": 1358, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred two popsicles from the cooler to the basket."}, {"action_text": "pick up the popsicle from the first compartment on the second shelf from the right", "start_frame": 1358, "end_frame": 1632, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred two popsicles from the cooler to the basket."}, {"action_text": "pick up the popsicle from the first compartment on the second row from the right", "start_frame": 1632, "end_frame": 1877, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred three popsicles from the cooler shelves into the basket."}, {"action_text": "pick up the popsicle and place it into the basket", "start_frame": 1877, "end_frame": 2170, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles from various compartments on the first and second shelves into the basket."}, {"action_text": "pick up the middle popsicle in the basket", "start_frame": 2170, "end_frame": 2415, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles from various compartments on the first and second shelves into the basket."}, {"action_text": "place the ice cream bar into the first compartment from the right on the second shelf of the right cabinet", "start_frame": 2415, "end_frame": 2695, "skill": "Place", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles from various shelves into the basket, then picked up the middle popsicle from the basket."}, {"action_text": "pick up the popsicle on the right side of the basket", "start_frame": 2695, "end_frame": 2860, "skill": "Pick", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles from various shelves and compartments into the basket, and placed an ice cream bar into the first compartment from the right on the second shelf of the right cabinet."}, {"action_text": "place the ice pop into the second compartment from the right on the first shelf", "start_frame": 2860, "end_frame": 3192, "skill": "Place", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles from the cooler shelves to the basket, and placed one ice cream bar into the right cabinet."}, {"action_text": "pick up the popsicle from the basket", "start_frame": 3192, "end_frame": 3424, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles from the cooler shelves into the basket, subsequently organizing the collected ice cream bars and popsicles into specific compartments within the right cabinet."}, {"action_text": "place the popsicle into the third compartment from the right on the first shelf of the right cabinet", "start_frame": 3424, "end_frame": 3733, "skill": "Place", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles from the cabinet shelves and the basket into specific compartments within the cabinet."}, {"action_text": "close the right cabinet door", "start_frame": 3733, "end_frame": 3928, "skill": "Close", "language_memory": "The robot opened the right cabinet door and organized multiple popsicles by transferring them from various shelf compartments and the basket into specific slots within the right cabinet."}], "tasks": ["organize the beverage cooler"], "detailed_task_instruction": ["Open the right cabinet door and begin organizing the popsicles. First, retrieve the popsicle from the third grid from the right on the first layer and the one from the second compartment from the right on the first shelf, placing both into the basket. Next, take the popsicle from the first compartment on the second shelf from the right and the one from the first compartment on the second row from the right, also placing them into the basket. Once all four are in the basket, remove the middle popsicle and place it into the first compartment from the right on the second shelf of the right cabinet. Then, take the popsicle on the right side of the basket and place it into the second compartment from the right on the first shelf. Finally, remove the remaining popsicle from the basket and place it into the third compartment from the right on the first shelf of the right cabinet before closing the door."]}
{"task_id": "Organize_The_Beverage_Cooler_20250630_003", "episode_index": 6, "video_path": "Organize_The_Beverage_Cooler_20250630_003/videos/chunk-000/{video_key}/episode_000006.mp4", "length": 5741, "action_config": [{"action_text": "open the right cabinet door", "start_frame": 0, "end_frame": 188, "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the popsicle from the second compartment from the right on the first layer", "start_frame": 188, "end_frame": 338, "skill": "Pick", "language_memory": "The right cabinet door has been opened."}, {"action_text": "pick up the popsicle and place it into the basket", "start_frame": 338, "end_frame": 536, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and picked up a popsicle from the second compartment from the right on the first layer."}, {"action_text": "pick up the popsicle from the second compartment from the right on the first shelf", "start_frame": 536, "end_frame": 875, "skill": "Pick", "language_memory": "The robot opened the right cabinet door, retrieved a popsicle from the second compartment on the first layer, and placed it into the basket."}, {"action_text": "pick up the ice pop and place it into the basket", "start_frame": 875, "end_frame": 1139, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred popsicles from the first layer to the basket."}, {"action_text": "pick up the ice pop from the fourth compartment from the right on the second shelf", "start_frame": 1139, "end_frame": 1383, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles from the first layer of the second compartment from the right into the basket."}, {"action_text": "place the ice cream stick into the basket", "start_frame": 1383, "end_frame": 1581, "skill": "Place", "language_memory": "The robot opened the right cabinet door and transferred three popsicles from the cooler to the basket."}, {"action_text": "pick up the popsicle from the third compartment from the right on the second shelf", "start_frame": 1581, "end_frame": 2000, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and ice pops from various compartments on the first and second shelves into the basket."}, {"action_text": "pick up the ice cream stick and place it into the basket", "start_frame": 2000, "end_frame": 2254, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and ice pops from various compartments on the first and second shelves into the basket."}, {"action_text": "pick up the popsicle from the fourth compartment from the right on the first shelf", "start_frame": 2254, "end_frame": 2673, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and ice cream sticks from various compartments on the first and second shelves into the basket."}, {"action_text": "pick up the popsicle and place it into the basket", "start_frame": 2673, "end_frame": 2890, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and ice cream sticks from various compartments on the first and second shelves into the basket."}, {"action_text": "pick up the second popsicle from the left in the basket", "start_frame": 2890, "end_frame": 3050, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and ice cream sticks from various compartments on the first and second shelves into the basket."}, {"action_text": "place the ice pop into the fourth compartment from the right on the first shelf", "start_frame": 3050, "end_frame": 3408, "skill": "Place", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and ice cream sticks from various compartments on the first and second shelves into the basket, then picked up a second popsicle from the basket."}, {"action_text": "pick up the left popsicle inside the basket", "start_frame": 3408, "end_frame": 3586, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and ice pops from various compartments on the first and second shelves into the basket, subsequently placing one ice pop back into the fourth compartment from the right on the first shelf."}, {"action_text": "place the ice pop into the third compartment from the right on the second shelf", "start_frame": 3586, "end_frame": 3817, "skill": "Place", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and ice pops from the cooler shelves to the basket, subsequently rearranging items within the basket."}, {"action_text": "pick up the left popsicle inside the basket", "start_frame": 3817, "end_frame": 4067, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and ice pops from the cooler shelves to the basket, and subsequently rearranged specific items within the basket and back onto designated shelves."}, {"action_text": "place the popsicle into the fourth compartment from the right on the second shelf", "start_frame": 4067, "end_frame": 4302, "skill": "Place", "language_memory": "The robot opened the right cabinet door and organized multiple popsicles and ice pops by transferring them between the cooler compartments and the basket."}, {"action_text": "pick up the left popsicle inside the basket", "start_frame": 4302, "end_frame": 4471, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and ice pops from the cooler shelves to the basket, and then rearranged items within the basket by placing them back into specific compartments on the first and second shelves."}, {"action_text": "place the ice pop into the second compartment from the right on the first shelf", "start_frame": 4471, "end_frame": 4848, "skill": "Place", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and ice pops from the cooler shelves to the basket, and rearranged items within the basket and back onto the shelves."}, {"action_text": "pick up the popsicle from the basket", "start_frame": 4848, "end_frame": 5088, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door and organized multiple popsicles and ice pops by transferring them between the cooler compartments and the basket."}, {"action_text": "place the ice pop back into the second compartment from the right on the first shelf", "start_frame": 5088, "end_frame": 5404, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door and organized multiple popsicles and ice pops by transferring them between the cooler compartments and the basket."}, {"action_text": "close the right cabinet door", "start_frame": 5404, "end_frame": 5741, "skill": "Close", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and ice pops between the cooler compartments and the basket, and organized the items back into specific shelves."}], "tasks": ["organize the beverage cooler"], "detailed_task_instruction": ["Open the right cabinet door of the beverage cooler. Remove the popsicle from the second compartment from the right on the first layer and the popsicle from the second compartment from the right on the first shelf, placing both into the basket. Next, take the ice pop from the fourth compartment from the right on the second shelf and the popsicle from the third compartment from the right on the second shelf, adding them to the basket along with the ice cream stick. Retrieve the second popsicle from the left and the left popsicle inside the basket, placing all collected items into the basket. Organize the contents by returning the ice pop to the fourth compartment from the right on the first shelf, the left popsicle to the third compartment from the right on the second shelf, and the ice pop to the second compartment from the right on the first shelf. Finally, place the remaining popsicle from the basket into the fourth compartment from the right on the second shelf, return the ice pop to the second compartment from the right on the first shelf, and close the right cabinet door."]}
{"task_id": "Organize_The_Beverage_Cooler_20250630_003", "episode_index": 7, "video_path": "Organize_The_Beverage_Cooler_20250630_003/videos/chunk-000/{video_key}/episode_000007.mp4", "length": 4034, "action_config": [{"action_text": "open the right cabinet door", "start_frame": 0, "end_frame": 351, "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the popsicle from the third compartment from the right on the second layer", "start_frame": 351, "end_frame": 622, "skill": "Pick", "language_memory": "The right cabinet door has been opened."}, {"action_text": "pick up the ice pop and place it into the basket", "start_frame": 622, "end_frame": 843, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and picked up a popsicle from the third compartment from the right on the second layer."}, {"action_text": "pick up the popsicle from the second compartment from the right on the second shelf", "start_frame": 843, "end_frame": 1074, "skill": "Pick", "language_memory": "The robot opened the right cabinet door, retrieved a popsicle from the second layer, and placed it into the basket."}, {"action_text": "pick up the popsicle from the second compartment from the right on the second shelf", "start_frame": 1074, "end_frame": 1243, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred two popsicles from the second layer to the basket."}, {"action_text": "pick up the ice pop and place it into the basket", "start_frame": 1243, "end_frame": 1422, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles from the second layer to the basket."}, {"action_text": "pick up the popsicle from the fourth compartment from the right on the second shelf", "start_frame": 1422, "end_frame": 1911, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and ice pops from the second layer of the cooler into the basket."}, {"action_text": "pick up the popsicle and place it into the basket", "start_frame": 1911, "end_frame": 2239, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles from the second shelf into the basket."}, {"action_text": "pick up the left popsicle in the basket", "start_frame": 2239, "end_frame": 2510, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and ice pops from the second shelf into the basket."}, {"action_text": "place the popsicle into the fourth compartment from the right on the second shelf of the right cabinet", "start_frame": 2510, "end_frame": 2805, "skill": "Place", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles from the second shelf into the basket, then moved the left popsicle within the basket."}, {"action_text": "pick up the popsicle on the right side of the basket", "start_frame": 2805, "end_frame": 3056, "skill": "Pick", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles from the second shelf to the basket, and returned one popsicle to the fourth compartment from the right on the second shelf."}, {"action_text": "place the popsicle into the third compartment from the right on the second shelf of the right cabinet", "start_frame": 3056, "end_frame": 3314, "skill": "Place", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles from the cooler to the basket, and returned some popsicles to the second shelf of the right cabinet."}, {"action_text": "pick up the popsicle from the basket", "start_frame": 3314, "end_frame": 3581, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles from the cooler to the basket, and then returned several popsicles to specific compartments on the second shelf of the right cabinet."}, {"action_text": "move to the right cabinet door", "start_frame": 3581, "end_frame": 3789, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles from the cooler to the basket, and then returned several popsicles to specific compartments on the second shelf of the right cabinet."}, {"action_text": "close the right cabinet door", "start_frame": 3789, "end_frame": 4034, "skill": "Close", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles from the cooler to the basket, and then returned several popsicles to specific compartments on the second shelf of the right cabinet."}], "tasks": ["organize the beverage cooler"], "detailed_task_instruction": ["Open the right cabinet door. Retrieve the ice pop from the third compartment from the right on the second layer and the ice pop from the second compartment from the right on the second shelf, placing both into the basket. Next, take the popsicle from the fourth compartment from the right on the second shelf and the popsicle from the second compartment from the right on the second shelf, placing them into the basket. Organize the contents by moving the left popsicle from the basket into the fourth compartment from the right on the second shelf, then move the popsicle from the right side of the basket into the third compartment from the right on the second shelf. Finally, take the remaining popsicle from the basket and close the right cabinet door."]}
{"task_id": "Organize_The_Beverage_Cooler_20250630_003", "episode_index": 8, "video_path": "Organize_The_Beverage_Cooler_20250630_003/videos/chunk-000/{video_key}/episode_000008.mp4", "length": 4486, "action_config": [{"action_text": "open the right cabinet door", "start_frame": 0, "end_frame": 611, "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the popsicle from the fourth compartment from the right on the second shelf", "start_frame": 611, "end_frame": 842, "skill": "Pick", "language_memory": "The right cabinet door has been opened."}, {"action_text": "pick up the popsicle and place it into the basket", "start_frame": 842, "end_frame": 1067, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and picked up a popsicle from the fourth compartment from the right on the second shelf."}, {"action_text": "pick up the popsicle from the third compartment from the right on the second shelf", "start_frame": 1067, "end_frame": 1490, "skill": "Pick", "language_memory": "The robot opened the right cabinet door, retrieved a popsicle from the second shelf, and placed it into the basket."}, {"action_text": "pick up the popsicle and place it into the basket", "start_frame": 1490, "end_frame": 1744, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred two popsicles from the second shelf to the basket."}, {"action_text": "pick up the popsicle from the second compartment from the right on the second shelf", "start_frame": 1744, "end_frame": 2122, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred two popsicles from the second shelf to the basket."}, {"action_text": "pick up the popsicle and place it into the basket", "start_frame": 2122, "end_frame": 2391, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred three popsicles from the second shelf to the basket."}, {"action_text": "pick up the ice cream on the right side of the basket", "start_frame": 2391, "end_frame": 2652, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred three popsicles from the second shelf to the basket."}, {"action_text": "place the popsicle into the second compartment from the right on the second shelf", "start_frame": 2652, "end_frame": 3005, "skill": "Place", "language_memory": "The robot opened the right cabinet door and transferred three popsicles from the second shelf into the basket, then picked up an ice cream from the right side of the basket."}, {"action_text": "pick up the popsicle from the basket", "start_frame": 3005, "end_frame": 3244, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door, transferred three popsicles from the second shelf to the basket, moved an ice cream from the basket to the shelf, and returned one popsicle to the second shelf."}, {"action_text": "place the popsicle into the third compartment from the right on the second shelf of the right cabinet", "start_frame": 3244, "end_frame": 3513, "skill": "Place", "language_memory": "The robot opened the right cabinet door, transferred three popsicles from the second shelf to the basket, moved an ice cream from the basket to the second shelf, and picked up a popsicle from the basket."}, {"action_text": "pick up the popsicle from the basket", "start_frame": 3513, "end_frame": 3811, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door, transferred three popsicles from the second shelf to a basket, moved an ice cream from the basket to the shelf, and returned two popsicles from the basket to the second shelf compartments."}, {"action_text": "place the popsicle into the fourth compartment from the right on the second shelf", "start_frame": 3811, "end_frame": 4043, "skill": "Place", "language_memory": "The robot opened the right cabinet door, transferred three popsicles from the second shelf to the basket, moved an ice cream from the basket to the second shelf, and returned two popsicles from the basket to the third and second compartments of the second shelf."}, {"action_text": "close the right cabinet door", "start_frame": 4043, "end_frame": 4486, "skill": "Close", "language_memory": "The robot opened the right cabinet door, transferred three popsicles from the second shelf into the basket, moved an ice cream from the basket to the shelf, and returned three popsicles from the basket to their original compartments on the second shelf."}], "tasks": ["organize the beverage cooler"], "detailed_task_instruction": ["Open the right cabinet door and remove three popsicles from the second shelf, starting with the fourth compartment from the right, followed by the third, and then the second, placing each into the basket. Next, take the ice cream from the right side of the basket and return it to the second compartment from the right on the second shelf. Then, retrieve the popsicle from the basket and place it into the third compartment from the right on the second shelf, followed by retrieving the remaining popsicle from the basket and placing it into the fourth compartment from the right on the second shelf. Finally, close the right cabinet door."]}
{"task_id": "Organize_The_Beverage_Cooler_20250630_003", "episode_index": 9, "video_path": "Organize_The_Beverage_Cooler_20250630_003/videos/chunk-000/{video_key}/episode_000009.mp4", "length": 4982, "action_config": [{"action_text": "open the right cabinet door", "start_frame": 0, "end_frame": 417, "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the popsicle from the first compartment on the second shelf, counting from the right", "start_frame": 417, "end_frame": 809, "skill": "Pick", "language_memory": "The right cabinet door has been opened."}, {"action_text": "pick up the popsicle and place it into the basket", "start_frame": 809, "end_frame": 1010, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and picked up a popsicle from the first compartment on the second shelf counting from the right."}, {"action_text": "pick up the popsicle from the third compartment from the right on the first shelf", "start_frame": 1010, "end_frame": 1365, "skill": "Pick", "language_memory": "The robot opened the right cabinet door, retrieved a popsicle from the second shelf, and placed it into the basket."}, {"action_text": "pick up the ice pop and place it into the basket", "start_frame": 1365, "end_frame": 1602, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred two popsicles from the cooler shelves to the basket."}, {"action_text": "pick up the popsicle from the second compartment from the right on the first shelf", "start_frame": 1602, "end_frame": 2206, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles from the shelves into the basket."}, {"action_text": "pick up the ice pop and place it into the basket", "start_frame": 2206, "end_frame": 2484, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred three popsicles from the beverage cooler to the basket."}, {"action_text": "pick up the ice cream on the left side of the basket", "start_frame": 2484, "end_frame": 2676, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and ice pops from the shelves into the basket."}, {"action_text": "place the ice cream bar into the third compartment from the right on the first shelf", "start_frame": 2676, "end_frame": 3081, "skill": "Place", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and ice pops from the cooler shelves into the basket, then picked up an ice cream from the left side of the basket."}, {"action_text": "pick up the popsicle on the right side of the basket", "start_frame": 3081, "end_frame": 3346, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and organized frozen items by transferring popsicles and ice pops from the cooler shelves to a basket, then placing an ice cream bar from the basket into the cooler."}, {"action_text": "place the ice pop into the second compartment from the right on the first shelf", "start_frame": 3346, "end_frame": 4028, "skill": "Place", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and ice pops from the cooler shelves to the basket, then moved an ice cream bar from the basket to the first shelf."}, {"action_text": "pick up the popsicle from the basket", "start_frame": 4028, "end_frame": 4331, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door and organized the basket by transferring multiple popsicles and ice pops between the basket and specific compartments on the first shelf, while also moving an ice cream bar from the basket to the first shelf."}, {"action_text": "place the ice pop into the first compartment from the right on the second shelf", "start_frame": 4331, "end_frame": 4653, "skill": "Place", "language_memory": "The robot opened the right cabinet door and organized multiple popsicles and ice cream bars by transferring them between the cooler shelves and the basket."}, {"action_text": "close the right cabinet door", "start_frame": 4653, "end_frame": 4982, "skill": "Close", "language_memory": "The robot opened the right cabinet door and organized multiple popsicles and ice cream bars by transferring them between the basket and specific compartments on the first and second shelves."}], "tasks": ["organize the beverage cooler"], "detailed_task_instruction": ["Open the right cabinet door of the beverage cooler. Remove the popsicle from the first compartment on the second shelf (counting from the right) and the popsicle from the third compartment on the first shelf, placing both into the basket. Next, take the popsicle from the second compartment on the first shelf and put it into the basket. Retrieve the ice cream bar from the left side of the basket and place it into the third compartment from the right on the first shelf. Then, take the popsicle from the right side of the basket and position it in the second compartment from the right on the first shelf. Finally, remove the remaining popsicle from the basket and place it into the first compartment from the right on the second shelf. Close the right cabinet door to complete the organization."]}
{"task_id": "Organize_The_Beverage_Cooler_20250630_003", "episode_index": 10, "video_path": "Organize_The_Beverage_Cooler_20250630_003/videos/chunk-000/{video_key}/episode_000010.mp4", "length": 4823, "action_config": [{"action_text": "open the right cabinet door", "start_frame": 0, "end_frame": 344, "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the popsicle from the fourth compartment from the right on the second layer", "start_frame": 344, "end_frame": 625, "skill": "Pick", "language_memory": "The right cabinet door has been opened."}, {"action_text": "pick up the ice cream stick and place it into the basket", "start_frame": 625, "end_frame": 838, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and picked up a popsicle from the fourth compartment from the right on the second layer."}, {"action_text": "pick up the popsicle from the third compartment from the right on the second shelf", "start_frame": 838, "end_frame": 1127, "skill": "Pick", "language_memory": "The robot opened the right cabinet door, retrieved a popsicle from the second layer, and placed an ice cream stick into the basket."}, {"action_text": "pick up the ice pop and place it into the basket", "start_frame": 1127, "end_frame": 1341, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and removed two popsicles from the second shelf, placing one ice cream stick into the basket."}, {"action_text": "pick up the popsicle from the second compartment from the right on the first shelf", "start_frame": 1341, "end_frame": 1637, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred multiple frozen treats from the second layer compartments into the basket."}, {"action_text": "pick up the popsicle and place it into the basket", "start_frame": 1637, "end_frame": 1839, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred three frozen treats from the cooler shelves into the basket."}, {"action_text": "pick up the popsicle from the fourth compartment from the right on the first shelf", "start_frame": 1839, "end_frame": 2222, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred multiple frozen treats from the cooler shelves into the basket."}, {"action_text": "pick up the popsicle and place it into the basket", "start_frame": 2222, "end_frame": 2381, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and ice pops from various compartments on the first and second shelves into the basket."}, {"action_text": "pick up the second popsicle from the left in the basket", "start_frame": 2381, "end_frame": 2563, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and an ice pop from various compartments on the first and second shelves into the basket."}, {"action_text": "move to the right cabinet door", "start_frame": 2563, "end_frame": 2938, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and an ice pop from various compartments on the first and second shelves into the basket, then picked up a second popsicle from the basket."}, {"action_text": "pick up the middle popsicle", "start_frame": 2938, "end_frame": 3211, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and an ice pop from various compartments on the first and second shelves into the basket."}, {"action_text": "place the ice cream bar into the third compartment from the right on the second shelf", "start_frame": 3211, "end_frame": 3504, "skill": "Place", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and ice pops from various compartments on the first and second shelves into the basket, subsequently moving a popsicle from the basket to the right cabinet door."}, {"action_text": "pick up the left popsicle inside the basket", "start_frame": 3504, "end_frame": 3757, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and an ice cream stick from the cooler shelves to a basket, and returned the middle popsicle to the third compartment from the right on the second shelf."}, {"action_text": "place the ice pop into the second compartment from the right on the top shelf", "start_frame": 3757, "end_frame": 4057, "skill": "Place", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and an ice cream bar from the cabinet shelves to a basket, and arranged some items back onto the second shelf."}, {"action_text": "pick up the popsicle from the basket", "start_frame": 4057, "end_frame": 4390, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door, organized multiple popsicles and ice pops by transferring them between the cabinet shelves and a basket, and arranged specific items into designated compartments on the second shelf and top shelf."}, {"action_text": "place the ice pop into the fourth compartment from the right on the second shelf", "start_frame": 4390, "end_frame": 4591, "skill": "Place", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and ice pops from the cabinet shelves to a basket, and subsequently organized the contents of the basket by placing specific items back into designated compartments on the second shelf, top shelf, and third compartment from the right."}, {"action_text": "close the right cabinet door", "start_frame": 4591, "end_frame": 4823, "skill": "Close", "language_memory": "The robot opened the right cabinet door, organized multiple popsicles and ice pops by transferring them between the cabinet shelves and a basket, and arranged specific items into designated compartments on the second and top shelves."}], "tasks": ["organize the beverage cooler"], "detailed_task_instruction": ["Open the right cabinet door. Retrieve the popsicle from the fourth compartment on the second layer, the ice cream stick, the popsicle from the third compartment on the second shelf, the ice pop, the popsicle from the second compartment on the first shelf, and the popsicle from the fourth compartment on the first shelf, placing each into the basket. Organize the basket contents by moving the second popsicle from the left, the middle popsicle, the left popsicle, and the remaining popsicle out of the basket. Place the ice cream bar into the third compartment on the second shelf, the ice pop into the second compartment on the top shelf, and the final ice pop into the fourth compartment on the second shelf. Close the right cabinet door."]}
{"task_id": "Organize_The_Beverage_Cooler_20250630_003", "episode_index": 11, "video_path": "Organize_The_Beverage_Cooler_20250630_003/videos/chunk-000/{video_key}/episode_000011.mp4", "length": 4491, "action_config": [{"action_text": "open the right cabinet door", "start_frame": 0, "end_frame": 420, "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the popsicle from the third grid from the right on the first layer", "start_frame": 420, "end_frame": 619, "skill": "Pick", "language_memory": "The right cabinet door has been opened."}, {"action_text": "pick up the popsicle and place it into the basket", "start_frame": 619, "end_frame": 854, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and picked up a popsicle from the first layer."}, {"action_text": "pick up the popsicle from the second compartment from the right on the first shelf", "start_frame": 854, "end_frame": 1178, "skill": "Pick", "language_memory": "The robot opened the right cabinet door, retrieved a popsicle from the first layer, and placed it into the basket."}, {"action_text": "pick up the popsicle from the second compartment from the right on the first shelf", "start_frame": 1178, "end_frame": 1520, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred two popsicles from the cooler to the basket."}, {"action_text": "pick up the ice pop and place it into the basket", "start_frame": 1520, "end_frame": 1763, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles from the first layer to the basket."}, {"action_text": "pick up the popsicle from the first compartment on the right of the second shelf", "start_frame": 1763, "end_frame": 2235, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles from the cooler shelves into the basket."}, {"action_text": "pick up the ice pop and place it into the basket", "start_frame": 2235, "end_frame": 2529, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles from various compartments on the first and second shelves into the basket."}, {"action_text": "pick up the middle popsicle in the basket", "start_frame": 2529, "end_frame": 2868, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and ice pops from various compartments on the first and second shelves into the basket."}, {"action_text": "place the popsicle into the second compartment from the right on the first shelf of the right cabinet", "start_frame": 2868, "end_frame": 3454, "skill": "Place", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles from the cooler shelves into the basket, concluding by picking up a popsicle from the basket."}, {"action_text": "pick up the left popsicle inside the basket", "start_frame": 3454, "end_frame": 3638, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles from the cooler to a basket, and returned one popsicle to the first shelf of the right cabinet."}, {"action_text": "place the ice cream bar into the third compartment from the right on the first shelf of the right cabinet", "start_frame": 3638, "end_frame": 3903, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles from the cooler to a basket, and returned several popsicles to specific compartments within the right cabinet."}, {"action_text": "pick up the popsicle from the basket", "start_frame": 3903, "end_frame": 4073, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles from the cooler to a basket, and then organized the popsicles within the basket by placing them into specific compartments on the first and second shelves of the right cabinet."}, {"action_text": "place the ice cream bar into the first compartment from the right on the second shelf of the right cabinet", "start_frame": 4073, "end_frame": 4301, "skill": "Place", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles from the cooler to a basket, and organized them by placing specific items into designated compartments on the first and second shelves of the right cabinet."}, {"action_text": "close the right cabinet door", "start_frame": 4301, "end_frame": 4491, "skill": "Close", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and ice cream bars from the cooler shelves to a basket, and subsequently organized the collected items back into specific compartments within the right cabinet."}], "tasks": ["organize the beverage cooler"], "detailed_task_instruction": ["Open the right cabinet door and transfer three popsicles from the first layer of the cooler into the basket. Next, move the middle popsicle from the basket to the second compartment from the right on the first shelf, then place the left popsicle from the basket into the third compartment from the right on the first shelf. Finally, take the remaining popsicle from the basket and place it into the first compartment from the right on the second shelf before closing the right cabinet door."]}
{"task_id": "Organize_The_Beverage_Cooler_20250630_003", "episode_index": 12, "video_path": "Organize_The_Beverage_Cooler_20250630_003/videos/chunk-000/{video_key}/episode_000012.mp4", "length": 4587, "action_config": [{"action_text": "open the right cabinet door", "start_frame": 0, "end_frame": 368, "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the popsicle from the first compartment from the right on the second layer", "start_frame": 368, "end_frame": 594, "skill": "Pick", "language_memory": "The right cabinet door has been opened."}, {"action_text": "pick up the ice pop and place it into the basket", "start_frame": 594, "end_frame": 891, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and picked up a popsicle from the second layer."}, {"action_text": "pick up the popsicle from the third compartment from the right on the first shelf", "start_frame": 891, "end_frame": 1335, "skill": "Pick", "language_memory": "The robot opened the right cabinet door, retrieved a popsicle from the second layer, and placed it into the basket."}, {"action_text": "pick up the ice pop and place it into the basket", "start_frame": 1335, "end_frame": 1527, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred two popsicles from the cooler to the basket."}, {"action_text": "pick up the popsicle from the second compartment from the right on the first layer", "start_frame": 1527, "end_frame": 2189, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred two popsicles from the cooler to the basket."}, {"action_text": "pick up the popsicle and place it into the basket", "start_frame": 2189, "end_frame": 2395, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred three popsicles from the cooler to the basket."}, {"action_text": "pick up the ice cream bar on the right side of the basket", "start_frame": 2395, "end_frame": 2647, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred three popsicles from the cooler to the basket."}, {"action_text": "place the ice pop into the second compartment from the right on the first shelf", "start_frame": 2647, "end_frame": 3057, "skill": "Place", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and an ice cream bar from the cooler shelves into the basket."}, {"action_text": "pick up the left popsicle inside the basket", "start_frame": 3057, "end_frame": 3257, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and an ice cream bar from the cooler shelves into the basket, then returned one ice pop to the first shelf."}, {"action_text": "place the popsicle into the third compartment from the right on the first shelf of the right cabinet", "start_frame": 3257, "end_frame": 3648, "skill": "Place", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and an ice cream bar from the cooler to the basket, and returned one ice pop to the first shelf."}, {"action_text": "pick up the popsicle from the basket", "start_frame": 3648, "end_frame": 3847, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and an ice cream bar from the cooler to a basket, and subsequently returned several items to specific compartments within the right cabinet."}, {"action_text": "place the ice pop into the first compartment from the right on the second shelf of the right cabinet", "start_frame": 3847, "end_frame": 4069, "skill": "Place", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and an ice cream bar between the cabinet shelves and the basket, and returned several items to their original locations within the cabinet."}, {"action_text": "close the right cabinet door", "start_frame": 4069, "end_frame": 4587, "skill": "Close", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and an ice cream bar from the cooler to a basket, and then organized the items back into specific compartments within the right cabinet."}], "tasks": ["organize the beverage cooler"], "detailed_task_instruction": ["Open the right cabinet door and begin organizing the beverage cooler by transferring specific frozen items into a basket. First, retrieve the popsicle from the first compartment on the second layer, followed by the ice pop from the third compartment on the first shelf, and then the popsicle from the second compartment on the first layer; place each into the basket. Next, remove the ice cream bar from the right side of the basket and the left popsicle from inside the basket. Return the ice pop to the first compartment on the second shelf, the left popsicle to the third compartment on the first shelf, and the ice cream bar to the second compartment on the first shelf. Finally, close the right cabinet door to complete the organization."]}
{"task_id": "Organize_The_Beverage_Cooler_20250630_003", "episode_index": 13, "video_path": "Organize_The_Beverage_Cooler_20250630_003/videos/chunk-000/{video_key}/episode_000013.mp4", "length": 5106, "action_config": [{"action_text": "open the right cabinet door", "start_frame": 0, "end_frame": 247, "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the popsicle from the fourth compartment from the right on the second layer", "start_frame": 247, "end_frame": 465, "skill": "Pick", "language_memory": "The right cabinet door has been opened."}, {"action_text": "pick up the popsicle and place it into the basket", "start_frame": 465, "end_frame": 670, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and picked up a popsicle from the fourth compartment from the right on the second layer."}, {"action_text": "pick up the popsicle from the second compartment from the right on the first shelf", "start_frame": 670, "end_frame": 950, "skill": "Pick", "language_memory": "The robot opened the right cabinet door, retrieved a popsicle from the second layer, and placed it into the basket."}, {"action_text": "pick up the popsicle and place it into the basket", "start_frame": 950, "end_frame": 1118, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred two popsicles from the cooler to the basket."}, {"action_text": "pick up the popsicle from the third compartment from the right on the second shelf", "start_frame": 1118, "end_frame": 1679, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred two popsicles from the cooler to the basket."}, {"action_text": "pick up the popsicle and place it into the basket", "start_frame": 1679, "end_frame": 1897, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred three popsicles from the cooler to the basket."}, {"action_text": "pick up the popsicle from the fourth compartment from the right on the first shelf", "start_frame": 1897, "end_frame": 2349, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred three popsicles from the cooler to the basket."}, {"action_text": "pick up the popsicle and place it into the basket", "start_frame": 2349, "end_frame": 2571, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred four popsicles from the beverage cooler to the basket."}, {"action_text": "pick up the left popsicle inside the basket", "start_frame": 2571, "end_frame": 2851, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door and transferred four popsicles from the beverage cooler to the basket."}, {"action_text": "place the popsicle into the fourth compartment from the right on the second shelf", "start_frame": 2851, "end_frame": 3090, "skill": "Place", "language_memory": "The robot opened the right cabinet door and transferred four popsicles from the beverage cooler to the basket, then picked up a popsicle already inside the basket."}, {"action_text": "pick up the left popsicle in the basket", "start_frame": 3090, "end_frame": 3262, "skill": "Pick", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles from the cooler shelves to the basket, and placed one popsicle from the basket into the fourth compartment from the right on the second shelf."}, {"action_text": "place the popsicle into the third compartment from the right on the second shelf of the right cabinet", "start_frame": 3262, "end_frame": 3496, "skill": "Place", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles from the cooler shelves to the basket, and returned one popsicle to the second shelf."}, {"action_text": "pick up the left popsicle inside the basket", "start_frame": 3496, "end_frame": 3701, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles from the cooler shelves to a basket, and then organized the popsicles back into specific compartments on the second shelf of the right cabinet."}, {"action_text": "place the popsicle into the second compartment from the right on the first shelf", "start_frame": 3701, "end_frame": 4191, "skill": "Place", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles from the cooler shelves to the basket, and organized the popsicles within the basket."}, {"action_text": "pick up the popsicle from the basket", "start_frame": 4191, "end_frame": 4392, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles from the cooler shelves to a basket, and then organized the popsicles back into specific compartments on the first and second shelves of the right cabinet."}, {"action_text": "place the ice pop into the fourth compartment from the right on the first shelf", "start_frame": 4392, "end_frame": 4798, "skill": "Place", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles from the cooler shelves to the basket, and then organized the popsicles back into specific compartments within the cabinet."}, {"action_text": "close the right cabinet door", "start_frame": 4798, "end_frame": 5106, "skill": "Close", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles from the cooler shelves to a basket, and then organized the popsicles back into specific compartments on the first and second shelves of the right cabinet."}], "tasks": ["organize the beverage cooler"], "detailed_task_instruction": ["Open the right cabinet door. Retrieve popsicles from the fourth compartment on the second layer, the second compartment on the first shelf, the third compartment on the second shelf, and the fourth compartment on the first shelf, placing each into the basket. Then, take the popsicles from the basket and arrange them in reverse order: place one into the fourth compartment on the second shelf, another into the third compartment on the second shelf, a third into the second compartment on the first shelf, and the final one into the fourth compartment on the first shelf. Close the right cabinet door once all items are organized."]}
{"task_id": "Organize_The_Beverage_Cooler_20250630_003", "episode_index": 14, "video_path": "Organize_The_Beverage_Cooler_20250630_003/videos/chunk-000/{video_key}/episode_000014.mp4", "length": 4484, "action_config": [{"action_text": "open the right cabinet door", "start_frame": 0, "end_frame": 441, "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the popsicle from the second compartment from the right on the second shelf", "start_frame": 441, "end_frame": 813, "skill": "Pick", "language_memory": "The right cabinet door has been opened."}, {"action_text": "pick up the popsicle and place it into the basket", "start_frame": 813, "end_frame": 1055, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and picked up a popsicle from the second compartment on the second shelf."}, {"action_text": "pick up the popsicle from the third compartment from the right on the second shelf", "start_frame": 1055, "end_frame": 1408, "skill": "Pick", "language_memory": "The robot opened the right cabinet door, retrieved a popsicle from the second compartment on the second shelf, and placed it into the basket."}, {"action_text": "pick up the popsicle and place it into the basket", "start_frame": 1408, "end_frame": 1629, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred two popsicles from the second shelf to the basket."}, {"action_text": "pick up the popsicle from the fourth compartment from the right on the second shelf", "start_frame": 1629, "end_frame": 2048, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred two popsicles from the second shelf to the basket."}, {"action_text": "pick up the popsicle from the fourth compartment from the right on the second shelf", "start_frame": 2048, "end_frame": 2331, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred three popsicles from the second shelf to the basket."}, {"action_text": "pick up the ice pop and place it into the basket", "start_frame": 2331, "end_frame": 2596, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles from the second shelf to the basket."}, {"action_text": "pick up the ice cream on the left side of the basket", "start_frame": 2596, "end_frame": 2794, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles from the second shelf into the basket."}, {"action_text": "place the popsicle into the third compartment from the right on the second shelf of the right cabinet", "start_frame": 2794, "end_frame": 3063, "skill": "Place", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and an ice cream from the cooler shelves into the basket."}, {"action_text": "pick up the left popsicle inside the basket", "start_frame": 3063, "end_frame": 3316, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and an ice pop from the second shelf into the basket, and returned one popsicle to the third compartment from the right on the second shelf."}, {"action_text": "move to the right cabinet door", "start_frame": 3316, "end_frame": 3599, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and an ice cream from the cabinet shelves to the basket, and returned some items to the cabinet while holding a popsicle inside the basket."}, {"action_text": "pick up the popsicle from the basket", "start_frame": 3599, "end_frame": 3941, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and an ice cream from the cabinet shelves to a basket, and subsequently returned several items from the basket to the cabinet shelves."}, {"action_text": "place the popsicle into the fourth compartment from the right on the second shelf", "start_frame": 3941, "end_frame": 4147, "skill": "Place", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and an ice cream from the cabinet shelves to the basket, and subsequently moved several items from the basket back to the cabinet shelves."}, {"action_text": "close the right cabinet door", "start_frame": 4147, "end_frame": 4484, "skill": "Close", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and an ice cream from the cabinet shelves to a basket, and subsequently returned several items from the basket to specific compartments within the right cabinet."}], "tasks": ["organize the beverage cooler"], "detailed_task_instruction": ["Open the right cabinet door and transfer three popsicles from the second shelf, specifically from the second, third, and fourth compartments from the right, into the basket. Next, move the ice cream located on the left side of the basket into the third compartment from the right on the second shelf of the right cabinet. Then, take the remaining popsicle from the basket and place it into the fourth compartment from the right on the second shelf. Finally, close the right cabinet door to complete the organization."]}
{"task_id": "Organize_The_Beverage_Cooler_20250630_003", "episode_index": 15, "video_path": "Organize_The_Beverage_Cooler_20250630_003/videos/chunk-000/{video_key}/episode_000015.mp4", "length": 5412, "action_config": [{"action_text": "open the right cabinet door", "start_frame": 0, "end_frame": 346, "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the popsicle from the fourth compartment from the right on the second layer", "start_frame": 346, "end_frame": 638, "skill": "Pick", "language_memory": "The right cabinet door has been opened."}, {"action_text": "pick up the ice pop and place it into the basket", "start_frame": 638, "end_frame": 852, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and picked up a popsicle from the fourth compartment from the right on the second layer."}, {"action_text": "pick up the ice pop from the third compartment from the right on the second shelf", "start_frame": 852, "end_frame": 1247, "skill": "Pick", "language_memory": "The robot opened the right cabinet door, retrieved a popsicle from the second layer, and placed it into the basket."}, {"action_text": "place the ice cream stick into the basket", "start_frame": 1247, "end_frame": 1464, "skill": "Place", "language_memory": "The robot opened the right cabinet door and transferred two ice pops from the second shelf to the basket."}, {"action_text": "pick up the popsicle from the third compartment from the right on the first shelf", "start_frame": 1464, "end_frame": 1744, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred two ice pops from the second layer into the basket."}, {"action_text": "pick up the popsicle from the third compartment from the right on the first shelf", "start_frame": 1744, "end_frame": 1926, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and an ice cream stick from the cooler shelves to the basket."}, {"action_text": "pick up the popsicle and place it into the basket", "start_frame": 1926, "end_frame": 2147, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and an ice cream stick from the cooler shelves into the basket."}, {"action_text": "pick up the popsicle from the second compartment from the right on the first shelf", "start_frame": 2147, "end_frame": 2454, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and an ice cream stick from various compartments on the first and second shelves into the basket."}, {"action_text": "pick up the ice cream bar and place it into the basket", "start_frame": 2454, "end_frame": 2711, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and an ice pop from various compartments on the first and second shelves into the basket."}, {"action_text": "pick up the ice cream bar on the right side of the basket", "start_frame": 2711, "end_frame": 2964, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and ice cream bars from various compartments on the first and second shelves into the basket."}, {"action_text": "place the popsicle into the second compartment from the right on the first shelf of the right cabinet", "start_frame": 2964, "end_frame": 3319, "skill": "Place", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and ice cream bars from various compartments on the first and second shelves into the basket."}, {"action_text": "pick up the middle popsicle in the basket", "start_frame": 3319, "end_frame": 3612, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and ice cream bars from various compartments on the first and second shelves into the basket, subsequently placing one popsicle back into the first shelf."}, {"action_text": "place the popsicle into the third compartment from the right on the first shelf of the right cabinet", "start_frame": 3612, "end_frame": 3927, "skill": "Place", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and ice cream bars from the cabinet shelves to the basket, subsequently placing some items back into the cabinet and rearranging contents within the basket."}, {"action_text": "pick up the left popsicle in the basket", "start_frame": 3927, "end_frame": 4153, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and organized multiple popsicles and ice cream bars by transferring them from various shelves into a basket and then arranging them back into specific compartments within the cabinet."}, {"action_text": "move to the right cabinet door", "start_frame": 4153, "end_frame": 4473, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and ice cream bars from the cooler shelves into the basket, subsequently organizing them back into specific compartments within the right cabinet."}, {"action_text": "pick up the popsicle from the basket", "start_frame": 4473, "end_frame": 4903, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and ice cream bars from the cooler shelves to the basket, and subsequently returned several items to specific compartments within the right cabinet before moving toward the cabinet door."}, {"action_text": "place the popsicle into the third compartment from the right on the second shelf of the right cabinet", "start_frame": 4903, "end_frame": 5139, "skill": "Place", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and ice cream bars from the cooler shelves and basket into the basket, then began organizing them back into the cabinet compartments."}, {"action_text": "close the right cabinet door", "start_frame": 5139, "end_frame": 5412, "skill": "Close", "language_memory": "The robot opened the right cabinet door and organized multiple popsicles and ice cream bars by transferring them from the cooler shelves and basket into specific compartments within the right cabinet."}], "tasks": ["organize the beverage cooler"], "detailed_task_instruction": ["Open the right cabinet door and begin organizing the beverage cooler by transferring specific frozen items into a basket. First, retrieve the popsicle from the fourth compartment on the second layer, followed by the ice pop from the third compartment on the second shelf, and the ice cream stick. Next, collect the popsicle from the third compartment on the first shelf, the popsicle from the second compartment on the first shelf, the ice cream bar, and the ice cream bar located on the right side of the basket. Once all items are gathered in the basket, sort them back into the cabinet: place the middle popsicle into the third compartment on the first shelf, the left popsicle into the second compartment on the first shelf, and the remaining popsicle into the third compartment on the second shelf. Finally, close the right cabinet door to complete the organization."]}
{"task_id": "Organize_The_Beverage_Cooler_20250630_003", "episode_index": 16, "video_path": "Organize_The_Beverage_Cooler_20250630_003/videos/chunk-000/{video_key}/episode_000016.mp4", "length": 5037, "action_config": [{"action_text": "open the right cabinet door", "start_frame": 0, "end_frame": 434, "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the popsicle from the second grid from the right on the first layer", "start_frame": 434, "end_frame": 785, "skill": "Pick", "language_memory": "The right cabinet door has been opened."}, {"action_text": "pick up the popsicle and place it into the basket", "start_frame": 785, "end_frame": 996, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and picked up a popsicle from the first layer."}, {"action_text": "pick up the popsicle from the third compartment from the right on the first shelf", "start_frame": 996, "end_frame": 1421, "skill": "Pick", "language_memory": "The robot opened the right cabinet door, retrieved a popsicle from the first layer, and placed it into the basket."}, {"action_text": "place the ice cream stick into the basket", "start_frame": 1421, "end_frame": 1640, "skill": "Place", "language_memory": "The robot opened the right cabinet door and transferred two popsicles from the cooler to the basket."}, {"action_text": "pick up the popsicle from the first compartment on the right in the second row", "start_frame": 1640, "end_frame": 2028, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred two popsicles from the cooler to the basket."}, {"action_text": "pick up the ice pop and place it into the basket", "start_frame": 2028, "end_frame": 2367, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles from the cooler shelves into the basket."}, {"action_text": "pick up the middle popsicle in the basket", "start_frame": 2367, "end_frame": 2639, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles from various compartments in the cooler to the basket."}, {"action_text": "place the popsicle into the third compartment from the right on the first shelf of the right cabinet", "start_frame": 2639, "end_frame": 2941, "skill": "Place", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles from the cooler shelves into the basket, concluding by picking up a popsicle already inside the basket."}, {"action_text": "pick up the ice pop on the right side of the basket", "start_frame": 2941, "end_frame": 3205, "skill": "Pick", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles from the cooler to a basket, and returned one popsicle to the first shelf of the right cabinet."}, {"action_text": "place the popsicle into the first compartment from the right on the second shelf of the right cabinet", "start_frame": 3205, "end_frame": 3622, "skill": "Place", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles from the cooler to the basket, and returned one popsicle to the cabinet shelf."}, {"action_text": "pick up the popsicle from the basket", "start_frame": 3622, "end_frame": 3903, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door and organized popsicles by transferring them between the cabinet shelves and the basket."}, {"action_text": "place the popsicle into the second compartment from the right on the first shelf of the right cabinet", "start_frame": 3903, "end_frame": 4291, "skill": "Place", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles from the cooler to the basket, and subsequently organized them by placing specific items into designated compartments on the first and second shelves of the right cabinet."}, {"action_text": "close the right cabinet door", "start_frame": 4291, "end_frame": 5037, "skill": "Close", "language_memory": "The robot opened the right cabinet door and organized multiple popsicles by transferring them between the cabinet shelves and the basket."}], "tasks": ["organize the beverage cooler"], "detailed_task_instruction": ["Open the right cabinet door and transfer three popsicles from the cabinet to the basket: first, take the popsicle from the second grid from the right on the first layer; second, take the popsicle from the third compartment from the right on the first shelf; and third, take the popsicle from the first compartment on the right in the second row. After placing these items in the basket, also move the ice cream stick and the ice pop currently in the basket into the cabinet. Return the remaining popsicles from the basket to the cabinet by placing one into the third compartment from the right on the first shelf, another into the first compartment from the right on the second shelf, and the final one into the second compartment from the right on the first shelf. Finally, close the right cabinet door."]}
{"task_id": "Organize_The_Beverage_Cooler_20250630_003", "episode_index": 17, "video_path": "Organize_The_Beverage_Cooler_20250630_003/videos/chunk-000/{video_key}/episode_000017.mp4", "length": 5357, "action_config": [{"action_text": "open the right cabinet door", "start_frame": 0, "end_frame": 334, "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the popsicle from the third compartment from the right on the second layer", "start_frame": 334, "end_frame": 576, "skill": "Pick", "language_memory": "The right cabinet door has been opened."}, {"action_text": "pick up the ice pop and place it into the basket", "start_frame": 576, "end_frame": 791, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and picked up a popsicle from the third compartment from the right on the second layer."}, {"action_text": "pick up the popsicle from the second compartment from the right on the first shelf", "start_frame": 791, "end_frame": 1397, "skill": "Pick", "language_memory": "The robot opened the right cabinet door, retrieved a popsicle from the second layer, and placed it into the basket."}, {"action_text": "pick up the popsicle and place it into the basket", "start_frame": 1397, "end_frame": 1603, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred two popsicles from the cooler to the basket."}, {"action_text": "pick up the popsicle from the fourth compartment from the right on the second shelf", "start_frame": 1603, "end_frame": 1880, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles from the cooler shelves into the basket."}, {"action_text": "pick up the popsicle and place it into the basket", "start_frame": 1880, "end_frame": 2078, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles from various compartments on the first and second shelves into the basket."}, {"action_text": "pick up the popsicle from the fourth compartment from the right on the first layer", "start_frame": 2078, "end_frame": 2420, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles from various compartments on the first and second shelves into the basket."}, {"action_text": "pick up the ice pop and place it into the basket", "start_frame": 2420, "end_frame": 2644, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred four popsicles from various compartments on the first and second shelves into the basket."}, {"action_text": "pick up the second popsicle from the left in the basket", "start_frame": 2644, "end_frame": 2859, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles from various compartments on the first and second shelves into the basket."}, {"action_text": "place the ice cream bar into the fourth compartment from the right on the second shelf", "start_frame": 2859, "end_frame": 3176, "skill": "Place", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles from various compartments on the first and second shelves into the basket, then picked up a second popsicle from the basket."}, {"action_text": "pick up the middle popsicle", "start_frame": 3176, "end_frame": 3408, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and ice pops from various compartments on the first and second shelves into the basket, subsequently placing one ice cream bar back into the fourth compartment from the right on the second shelf."}, {"action_text": "place the popsicle into the second compartment from the right on the first shelf", "start_frame": 3408, "end_frame": 3856, "skill": "Place", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles from various compartments on the first and second shelves into the basket, and returned one ice cream bar to the fourth compartment from the right on the second shelf."}, {"action_text": "pick up the left popsicle in the basket", "start_frame": 3856, "end_frame": 4076, "skill": "Pick", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles from various compartments on the first and second shelves into the basket, and returned selected items to specific locations within the cooler."}, {"action_text": "place the ice pop into the fourth compartment from the right on the first shelf", "start_frame": 4076, "end_frame": 4458, "skill": "Place", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles from the cooler shelves to the basket, and rearranged specific items within the basket and back onto the shelves."}, {"action_text": "pick up the popsicle from the basket", "start_frame": 4458, "end_frame": 4735, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door and organized multiple popsicles and ice pops by transferring them between the cooler shelves and a basket."}, {"action_text": "place the popsicle into the third compartment from the right on the second shelf of the right cabinet", "start_frame": 4735, "end_frame": 5016, "skill": "Place", "language_memory": "The robot opened the right cabinet door and organized multiple popsicles and ice pops by transferring them between the cooler shelves and the basket."}, {"action_text": "close the right cabinet door", "start_frame": 5016, "end_frame": 5357, "skill": "Close", "language_memory": "The robot opened the right cabinet door and organized multiple popsicles and ice pops by transferring them between the cabinet shelves and a basket, ultimately placing all items into specific compartments within the right cabinet."}], "tasks": ["organize the beverage cooler"], "detailed_task_instruction": ["Open the right cabinet door and begin organizing the popsicles. Retrieve the popsicle from the third compartment on the second layer, the ice pop from the second shelf, the popsicle from the fourth compartment on the second shelf, and the popsicle from the fourth compartment on the first layer, placing each into the basket. Next, take the second popsicle from the left in the basket and place it into the fourth compartment on the second shelf. Retrieve the middle popsicle from the basket and place it into the second compartment on the first shelf. Then, take the left popsicle from the basket and place it into the fourth compartment on the first shelf. Finally, pick up the remaining popsicle from the basket and place it into the third compartment on the second shelf. Close the right cabinet door to complete the organization."]}
{"task_id": "Organize_The_Beverage_Cooler_20250630_003", "episode_index": 18, "video_path": "Organize_The_Beverage_Cooler_20250630_003/videos/chunk-000/{video_key}/episode_000018.mp4", "length": 3936, "action_config": [{"action_text": "open the left cabinet door", "start_frame": 0, "end_frame": 220, "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the popsicle from the second compartment from the left on the second shelf", "start_frame": 220, "end_frame": 378, "skill": "Pick", "language_memory": "The left cabinet door has been opened."}, {"action_text": "pick up the ice pop and place it into the basket", "start_frame": 378, "end_frame": 569, "skill": "PickAndPlace", "language_memory": "The robot opened the left cabinet door and picked up a popsicle from the second compartment on the second shelf."}, {"action_text": "pick up the popsicle from the fourth compartment from the left on the second shelf", "start_frame": 569, "end_frame": 872, "skill": "Pick", "language_memory": "The robot opened the left cabinet door, retrieved a popsicle from the second compartment on the second shelf, and placed it into the basket."}, {"action_text": "pick up the popsicle and place it into the basket", "start_frame": 872, "end_frame": 1081, "skill": "PickAndPlace", "language_memory": "The robot opened the left cabinet door and transferred two popsicles from the second shelf to the basket."}, {"action_text": "pick up the popsicle from the second compartment from the left on the first shelf", "start_frame": 1081, "end_frame": 1627, "skill": "Pick", "language_memory": "The robot opened the left cabinet door and transferred multiple popsicles from the second shelf to the basket."}, {"action_text": "pick up the popsicle and place it into the basket", "start_frame": 1627, "end_frame": 1953, "skill": "PickAndPlace", "language_memory": "The robot opened the left cabinet door and transferred multiple popsicles from the shelves into the basket."}, {"action_text": "pick up the middle popsicle in the basket", "start_frame": 1953, "end_frame": 2314, "skill": "Pick", "language_memory": "The robot opened the left cabinet door and transferred multiple popsicles from the shelves into the basket."}, {"action_text": "place the popsicle into the second compartment from the left on the second shelf of the left cabinet", "start_frame": 2314, "end_frame": 2624, "skill": "Place", "language_memory": "The robot opened the left cabinet door and transferred multiple popsicles from the shelves into the basket, then picked up the middle popsicle from the basket."}, {"action_text": "pick up the left popsicle in the basket", "start_frame": 2624, "end_frame": 2882, "skill": "Pick", "language_memory": "The robot opened the left cabinet door, transferred multiple popsicles from the shelves to the basket, and returned one popsicle to the second compartment from the left on the second shelf."}, {"action_text": "place the popsicle into the fourth compartment from the left on the second shelf of the left cabinet", "start_frame": 2882, "end_frame": 3179, "skill": "Place", "language_memory": "The robot opened the left cabinet door, transferred multiple popsicles between the cabinet shelves and the basket, and returned one popsicle to the second compartment from the left on the second shelf."}, {"action_text": "pick up the popsicle from the basket", "start_frame": 3179, "end_frame": 3434, "skill": "Navigate", "language_memory": "The robot opened the left cabinet door, transferred multiple popsicles between the cabinet shelves and the basket, and rearranged specific popsicles within the basket and cabinet compartments."}, {"action_text": "place the popsicle into the second compartment from the left on the second shelf of the left cabinet", "start_frame": 3434, "end_frame": 3666, "skill": "Place", "language_memory": "The robot opened the left cabinet door, transferred multiple popsicles between the cabinet shelves and the basket, and rearranged items within the basket."}, {"action_text": "close the left cabinet door", "start_frame": 3666, "end_frame": 3936, "skill": "Close", "language_memory": "The robot opened the left cabinet door, transferred multiple popsicles between the cabinet shelves and the basket, and rearranged specific popsicles within the cabinet compartments."}], "tasks": ["organize the beverage cooler"], "detailed_task_instruction": ["Open the left cabinet door. Remove the popsicle from the second compartment on the second shelf, the ice pop, and the popsicle from the fourth compartment on the second shelf, placing each into the basket. Also remove the popsicle from the second compartment on the first shelf and place it in the basket. Organize the contents of the basket by placing the middle popsicle into the second compartment on the second shelf, the left popsicle into the fourth compartment on the second shelf, and the remaining popsicle from the basket into the second compartment on the second shelf. Finally, close the left cabinet door."]}
{"task_id": "Organize_The_Beverage_Cooler_20250630_003", "episode_index": 19, "video_path": "Organize_The_Beverage_Cooler_20250630_003/videos/chunk-000/{video_key}/episode_000019.mp4", "length": 3213, "action_config": [{"action_text": "open the left cabinet door", "start_frame": 0, "end_frame": 250, "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the popsicle from the third compartment from the left on the second shelf", "start_frame": 250, "end_frame": 450, "skill": "Pick", "language_memory": "The left cabinet door has been opened."}, {"action_text": "pick up the popsicle and place it into the basket", "start_frame": 450, "end_frame": 717, "skill": "PickAndPlace", "language_memory": "The robot opened the left cabinet door and picked up a popsicle from the third compartment from the left on the second shelf."}, {"action_text": "pick up the popsicle from the fourth compartment on the first layer", "start_frame": 717, "end_frame": 996, "skill": "Pick", "language_memory": "The robot opened the left cabinet door, retrieved a popsicle from the second shelf, and placed it into the basket."}, {"action_text": "pick up the popsicle from the fourth compartment from the left on the first shelf", "start_frame": 996, "end_frame": 1251, "skill": "Pick", "language_memory": "The robot opened the left cabinet door, retrieved two popsicles from the second and first shelves, and placed one into the basket."}, {"action_text": "pick up the ice pop and place it into the basket", "start_frame": 1251, "end_frame": 1430, "skill": "PickAndPlace", "language_memory": "The robot opened the left cabinet door and transferred three popsicles from the cooler shelves into the basket."}, {"action_text": "pick up the ice cream on the left in the basket", "start_frame": 1430, "end_frame": 1997, "skill": "Pick", "language_memory": "The robot opened the left cabinet door and transferred multiple popsicles from various compartments on the first and second shelves into the basket."}, {"action_text": "place the popsicle into the third compartment from the left on the second shelf of the left cabinet", "start_frame": 1997, "end_frame": 2223, "skill": "Place", "language_memory": "The robot opened the left cabinet door and transferred multiple popsicles and ice cream from the cooler shelves into the basket."}, {"action_text": "pick up the popsicle from the basket", "start_frame": 2223, "end_frame": 2719, "skill": "Navigate", "language_memory": "The robot opened the left cabinet door, transferred multiple popsicles and an ice cream from the cooler shelves to a basket, and returned one popsicle to the second shelf."}, {"action_text": "place the ice cream bar into the fourth compartment from the left on the first shelf", "start_frame": 2719, "end_frame": 2953, "skill": "Place", "language_memory": "The robot opened the left cabinet door, transferred multiple popsicles and an ice cream between the cabinet shelves and the basket, and returned one popsicle to the second shelf."}, {"action_text": "close the left cabinet door", "start_frame": 2953, "end_frame": 3213, "skill": "Close", "language_memory": "The robot organized the beverage cooler by transferring multiple popsicles and ice cream bars between the left cabinet shelves and the basket, ultimately restocking specific compartments."}], "tasks": ["organize the beverage cooler"], "detailed_task_instruction": ["Open the left cabinet door. Retrieve the popsicle from the third compartment from the left on the second shelf and the popsicle from the fourth compartment on the first layer, placing both into the basket. Also, take the ice pop from the basket and place it into the basket. Next, remove the ice cream from the left side of the basket. Organize the items by placing the first popsicle into the third compartment from the left on the second shelf and the ice cream bar into the fourth compartment from the left on the first shelf. Finally, close the left cabinet door."]}
{"task_id": "Organize_The_Beverage_Cooler_20250630_003", "episode_index": 20, "video_path": "Organize_The_Beverage_Cooler_20250630_003/videos/chunk-000/{video_key}/episode_000020.mp4", "length": 4916, "action_config": [{"action_text": "open the left cabinet door", "start_frame": 0, "end_frame": 238, "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the popsicle from the third grid on the second layer from the left", "start_frame": 238, "end_frame": 415, "skill": "Pick", "language_memory": "The left cabinet door has been opened."}, {"action_text": "place the ice pop into the basket", "start_frame": 415, "end_frame": 621, "skill": "Place", "language_memory": "The robot opened the left cabinet door and picked up a popsicle from the third grid on the second layer from the left."}, {"action_text": "pick up the popsicle from the second compartment from the left on the second shelf", "start_frame": 621, "end_frame": 1052, "skill": "Pick", "language_memory": "The robot opened the left cabinet door, retrieved a popsicle from the second layer, and placed it into the basket."}, {"action_text": "pick up the ice pop and place it into the basket", "start_frame": 1052, "end_frame": 1249, "skill": "PickAndPlace", "language_memory": "The robot opened the left cabinet door, transferred a popsicle from the third grid on the second layer to the basket, and picked up a second popsicle from the second compartment on the second shelf."}, {"action_text": "pick up the popsicle from the first compartment on the second shelf from the left", "start_frame": 1249, "end_frame": 1536, "skill": "Pick", "language_memory": "The robot opened the left cabinet door and transferred multiple popsicles from the cooler shelves into the basket."}, {"action_text": "pick up the ice pop and place it into the basket", "start_frame": 1536, "end_frame": 1753, "skill": "PickAndPlace", "language_memory": "The robot opened the left cabinet door and transferred three popsicles from the second shelf to the basket."}, {"action_text": "pick up the popsicle from the fourth compartment from the left on the first shelf", "start_frame": 1753, "end_frame": 2064, "skill": "Pick", "language_memory": "The robot opened the left cabinet door and transferred three popsicles from the second shelf to the basket."}, {"action_text": "pick up the ice pop and place it into the basket", "start_frame": 2064, "end_frame": 2253, "skill": "PickAndPlace", "language_memory": "The robot opened the left cabinet door and transferred multiple popsicles from various compartments on the first and second shelves into the basket."}, {"action_text": "pick up the ice cream bar on the right side of the basket", "start_frame": 2253, "end_frame": 2479, "skill": "Pick", "language_memory": "The robot opened the left cabinet door and transferred multiple popsicles from various compartments on the first and second shelves into the basket."}, {"action_text": "place the ice cream bar into the fourth compartment from the left on the first shelf", "start_frame": 2479, "end_frame": 3128, "skill": "Place", "language_memory": "The robot opened the left cabinet door and transferred multiple popsicles from various shelves into the basket, then picked up an ice cream bar from the right side of the basket."}, {"action_text": "pick up the right popsicle from the basket", "start_frame": 3128, "end_frame": 3390, "skill": "Navigate", "language_memory": "The robot opened the left cabinet door and transferred multiple popsicles from the shelves into the basket, then placed an ice cream bar from the basket into a shelf compartment."}, {"action_text": "place the popsicle into the first compartment from the left on the second shelf of the left cabinet", "start_frame": 3390, "end_frame": 3769, "skill": "Place", "language_memory": "The robot opened the left cabinet door and transferred multiple popsicles and an ice cream bar from the cooler shelves to the basket, then returned the ice cream bar to the first shelf and picked up a popsicle from the basket."}, {"action_text": "pick up the left popsicle in the basket", "start_frame": 3769, "end_frame": 3950, "skill": "Pick", "language_memory": "The robot opened the left cabinet door and organized multiple popsicles and an ice cream bar by transferring them between the cabinet shelves and the basket."}, {"action_text": "place the popsicle into the second compartment from the left on the second shelf of the left cabinet", "start_frame": 3950, "end_frame": 4224, "skill": "Place", "language_memory": "The robot opened the left cabinet door and organized multiple popsicles and an ice cream bar by transferring them between the cabinet shelves and the basket."}, {"action_text": "pick up the popsicle", "start_frame": 4224, "end_frame": 4445, "skill": "Pick", "language_memory": "The robot opened the left cabinet door and organized multiple popsicles and an ice cream bar by transferring them between the cabinet shelves and the basket."}, {"action_text": "place the popsicle into the third compartment from the left on the second shelf of the left cabinet", "start_frame": 4445, "end_frame": 4635, "skill": "Place", "language_memory": "The robot opened the left cabinet door, transferred multiple popsicles and an ice cream bar between the cabinet shelves and the basket, and returned the popsicles to their designated compartments on the second shelf."}, {"action_text": "close the left cabinet door", "start_frame": 4635, "end_frame": 4916, "skill": "Close", "language_memory": "The robot opened the left cabinet door and organized multiple popsicles and an ice cream bar by transferring them between the cabinet shelves and the basket."}], "tasks": ["organize the beverage cooler"], "detailed_task_instruction": ["Open the left cabinet door and transfer three ice pops from the third, second, and first compartments on the second shelf, as well as the popsicle from the fourth compartment on the first shelf, into the basket. Next, move the ice cream bar from the basket into the fourth compartment on the first shelf. Then, return the right popsicle from the basket to the first compartment on the second shelf, the left popsicle to the second compartment on the second shelf, and the final popsicle to the third compartment on the second shelf. Finally, close the left cabinet door."]}
{"task_id": "Organize_The_Beverage_Cooler_20250630_003", "episode_index": 21, "video_path": "Organize_The_Beverage_Cooler_20250630_003/videos/chunk-000/{video_key}/episode_000021.mp4", "length": 3543, "action_config": [{"action_text": "open the left cabinet door", "start_frame": 0, "end_frame": 203, "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the popsicle from the fourth compartment from the left on the second layer", "start_frame": 203, "end_frame": 319, "skill": "Pick", "language_memory": "The left cabinet door has been opened."}, {"action_text": "pick up the ice cream bar and place it into the basket", "start_frame": 319, "end_frame": 549, "skill": "PickAndPlace", "language_memory": "The robot opened the left cabinet door and picked up a popsicle from the fourth compartment from the left on the second layer."}, {"action_text": "pick up the popsicle from the second compartment from the left on the first shelf", "start_frame": 549, "end_frame": 1153, "skill": "Pick", "language_memory": "The robot opened the left cabinet door, retrieved a popsicle from the second layer, and placed an ice cream bar into the basket."}, {"action_text": "pick up the ice pop and place it into the basket", "start_frame": 1153, "end_frame": 1362, "skill": "PickAndPlace", "language_memory": "The robot opened the left cabinet door and retrieved multiple frozen items from the cooler, placing an ice cream bar into the basket and holding a popsicle."}, {"action_text": "pick up the popsicle from the third compartment from the left on the second shelf", "start_frame": 1362, "end_frame": 1641, "skill": "Pick", "language_memory": "The robot opened the left cabinet door and transferred multiple frozen items, including popsicles and ice cream bars, from the cooler shelves to the basket."}, {"action_text": "pick up the ice pop and place it into the basket", "start_frame": 1641, "end_frame": 1903, "skill": "PickAndPlace", "language_memory": "The robot opened the left cabinet door and transferred multiple frozen treats, including popsicles, an ice cream bar, and an ice pop, from the cooler shelves into the basket."}, {"action_text": "pick up the ice cream on the left side of the basket", "start_frame": 1903, "end_frame": 2150, "skill": "Pick", "language_memory": "The robot opened the left cabinet door and transferred multiple frozen treats, including popsicles, ice cream bars, and ice pops, from the cooler shelves into the basket."}, {"action_text": "place the popsicle into the fourth compartment from the left on the second shelf", "start_frame": 2150, "end_frame": 2397, "skill": "Place", "language_memory": "The robot opened the left cabinet door and transferred multiple frozen items, including popsicles, ice cream bars, and ice pops, from the cooler shelves into the basket, then picked up an ice cream from the basket."}, {"action_text": "pick up the right popsicle from the basket", "start_frame": 2397, "end_frame": 2554, "skill": "Navigate", "language_memory": "The robot opened the left cabinet door, transferred multiple frozen items from the cooler shelves to the basket, and returned one popsicle to the second shelf."}, {"action_text": "place the ice pop into the third compartment from the left on the second shelf of the left cabinet", "start_frame": 2554, "end_frame": 2800, "skill": "Place", "language_memory": "The robot opened the left cabinet door, transferred multiple frozen treats from the cooler shelves to the basket, and returned some items to the cooler while holding a popsicle from the basket."}, {"action_text": "pick up the popsicle from the basket", "start_frame": 2800, "end_frame": 3018, "skill": "Navigate", "language_memory": "The robot opened the left cabinet door, transferred multiple frozen items from the cooler shelves to a basket, and subsequently organized the collected popsicles and ice pops back into specific compartments within the left cabinet."}, {"action_text": "place the popsicle into the second compartment from the left on the first shelf", "start_frame": 3018, "end_frame": 3309, "skill": "Place", "language_memory": "The robot opened the left cabinet door, transferred multiple frozen treats between the cabinet shelves and the basket, and arranged specific items into designated compartments within the cabinet."}, {"action_text": "close the left cabinet door", "start_frame": 3309, "end_frame": 3543, "skill": "Close", "language_memory": "The robot opened the left cabinet door, transferred multiple frozen items between the cabinet shelves and the basket, and organized the remaining popsicles and ice pops into specific compartments on the first and second shelves."}], "tasks": ["organize the beverage cooler"], "detailed_task_instruction": ["Open the left cabinet door. Pick up the popsicle from the fourth compartment on the second layer and the ice cream bar, placing both into the basket. Next, retrieve the popsicle from the second compartment on the first shelf and the ice pop, adding them to the basket as well. Then, take the popsicle from the third compartment on the second shelf and the ice cream located on the left side of the basket, placing the popsicle into the fourth compartment on the second shelf. Retrieve the right popsicle and the ice pop from the basket, placing the ice pop into the third compartment on the second shelf and the popsicle into the second compartment on the first shelf. Finally, close the left cabinet door."]}
{"task_id": "Organize_The_Beverage_Cooler_20250630_003", "episode_index": 22, "video_path": "Organize_The_Beverage_Cooler_20250630_003/videos/chunk-000/{video_key}/episode_000022.mp4", "length": 4040, "action_config": [{"action_text": "open the right cabinet door", "start_frame": 0, "end_frame": 295, "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "open the right cabinet door", "start_frame": 295, "end_frame": 428, "skill": "Open", "language_memory": "The right cabinet door has been opened."}, {"action_text": "pick up the popsicle from the second compartment from the right on the second shelf", "start_frame": 428, "end_frame": 666, "skill": "Pick", "language_memory": "The robot opened the right cabinet door."}, {"action_text": "pick up the ice pop and place it into the basket", "start_frame": 666, "end_frame": 918, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and picked up a popsicle from the second compartment on the second shelf."}, {"action_text": "pick up the popsicle from the fourth compartment from the right on the second shelf", "start_frame": 918, "end_frame": 1309, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred a popsicle from the second compartment on the second shelf to the basket."}, {"action_text": "pick up the ice pop and place it into the basket", "start_frame": 1309, "end_frame": 1554, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and retrieved two popsicles from the second shelf, placing one into the basket."}, {"action_text": "pick up the popsicle from the third compartment from the right on the second shelf", "start_frame": 1554, "end_frame": 1984, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred two popsicles from the second shelf to the basket."}, {"action_text": "place the ice cream stick into the basket", "start_frame": 1984, "end_frame": 2216, "skill": "Place", "language_memory": "The robot opened the right cabinet door and transferred three popsicles from the second shelf to the basket."}, {"action_text": "pick up the ice cream on the left side of the basket", "start_frame": 2216, "end_frame": 2495, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred multiple ice pops from the second shelf into the basket."}, {"action_text": "place the popsicle into the second compartment from the right on the second shelf of the right cabinet", "start_frame": 2495, "end_frame": 2779, "skill": "Place", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and an ice cream stick from the cooler shelves into the basket, then picked up an ice cream from the left side of the basket."}, {"action_text": "pick up the popsicle from the basket", "start_frame": 2779, "end_frame": 3041, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and an ice cream stick from the second shelf into the basket, and returned one popsicle to the second compartment from the right on the second shelf."}, {"action_text": "place the ice pop into the third compartment from the right on the second shelf", "start_frame": 3041, "end_frame": 3293, "skill": "Place", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and an ice cream stick from the cabinet shelves to the basket, and returned one popsicle to the cabinet."}, {"action_text": "pick up the popsicle from the basket", "start_frame": 3293, "end_frame": 3551, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and an ice cream stick from the cabinet shelves to the basket, and returned some items to specific compartments within the right cabinet."}, {"action_text": "place the popsicle into the fourth compartment from the right on the second shelf", "start_frame": 3551, "end_frame": 3737, "skill": "Place", "language_memory": "The robot opened the right cabinet door and organized multiple popsicles and ice pops by transferring them between the basket and specific compartments on the second shelf of the right cabinet."}, {"action_text": "close the right cabinet door", "start_frame": 3737, "end_frame": 4040, "skill": "Close", "language_memory": "The robot opened the right cabinet door and organized popsicles by transferring them between the basket and specific compartments on the second shelf."}], "tasks": ["organize the beverage cooler"], "detailed_task_instruction": ["Open the right cabinet door. Retrieve the popsicle from the second compartment from the right on the second shelf, the ice pop from the fourth compartment from the right on the second shelf, and the popsicle from the third compartment from the right on the second shelf, placing each into the basket. Insert the ice cream stick into the basket and transfer the ice cream located on the left side of the basket into the second compartment from the right on the second shelf. Return the popsicle from the basket to the second compartment from the right on the second shelf, move the ice pop from the basket to the third compartment from the right on the second shelf, and place the remaining popsicle from the basket into the fourth compartment from the right on the second shelf. Finally, close the right cabinet door."]}
{"task_id": "Organize_The_Beverage_Cooler_20250630_003", "episode_index": 23, "video_path": "Organize_The_Beverage_Cooler_20250630_003/videos/chunk-000/{video_key}/episode_000023.mp4", "length": 4554, "action_config": [{"action_text": "open the right cabinet door", "start_frame": 0, "end_frame": 463, "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the popsicle from the fourth compartment from the right on the second layer", "start_frame": 463, "end_frame": 743, "skill": "Pick", "language_memory": "The right cabinet door has been opened."}, {"action_text": "place the ice cream stick into the basket", "start_frame": 743, "end_frame": 945, "skill": "Place", "language_memory": "The robot opened the right cabinet door and picked up a popsicle from the fourth compartment from the right on the second layer."}, {"action_text": "pick up the popsicle from the third compartment from the right on the second shelf", "start_frame": 945, "end_frame": 1356, "skill": "Pick", "language_memory": "The robot opened the right cabinet door, retrieved a popsicle from the second layer, and placed the ice cream stick into the basket."}, {"action_text": "pick up the ice pop and place it into the basket", "start_frame": 1356, "end_frame": 1632, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door, placed a popsicle stick into the basket, and picked up two popsicles from the second layer."}, {"action_text": "pick up the popsicle from the second compartment from the right on the second shelf", "start_frame": 1632, "end_frame": 1994, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles from the second layer to the basket."}, {"action_text": "pick up the popsicle and place it into the basket", "start_frame": 1994, "end_frame": 2259, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles from the second shelf to the basket."}, {"action_text": "pick up the ice cream bar on the right side of the basket", "start_frame": 2259, "end_frame": 2577, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles from the second shelf to the basket."}, {"action_text": "place the popsicle into the second compartment from the right on the second shelf of the right cabinet", "start_frame": 2577, "end_frame": 2950, "skill": "Place", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and an ice cream bar from the second shelf into the basket."}, {"action_text": "pick up the popsicle on the right side of the basket", "start_frame": 2950, "end_frame": 3230, "skill": "Pick", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and an ice cream bar from the second shelf of the right cabinet to the basket, and returned one popsicle to the second compartment from the right on the second shelf."}, {"action_text": "place the popsicle into the third compartment from the right on the second shelf of the right cabinet", "start_frame": 3230, "end_frame": 3682, "skill": "Place", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and an ice cream bar from the cabinet shelves to a basket, and returned one popsicle to the second compartment from the right on the second shelf."}, {"action_text": "pick up the popsicle from the basket", "start_frame": 3682, "end_frame": 3988, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and an ice cream bar from the cabinet shelves to a basket, and then returned several items from the basket to specific compartments on the second shelf of the right cabinet."}, {"action_text": "place the popsicle into the fourth compartment from the right on the second shelf of the right cabinet", "start_frame": 3988, "end_frame": 4257, "skill": "Place", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and an ice cream bar from the cabinet shelves and basket into the basket, and returned several popsicles to specific compartments on the second shelf of the right cabinet."}, {"action_text": "close the right cabinet door", "start_frame": 4257, "end_frame": 4554, "skill": "Close", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and an ice cream bar from the cooler compartments and basket into the basket, and then organized them by placing each item into specific compartments on the second shelf of the right cabinet."}], "tasks": ["organize the beverage cooler"], "detailed_task_instruction": ["Open the right cabinet door and remove three popsicles from the fourth, third, and second compartments from the right on the second shelf, placing each into the basket. Next, transfer the ice cream stick and the ice pop from the basket into the same compartments in the cabinet, followed by moving the popsicle originally on the right side of the basket into the second compartment from the right. Then, take the remaining popsicle from the basket and place it into the third compartment from the right. Finally, move the last popsicle from the basket into the fourth compartment from the right on the second shelf and close the right cabinet door."]}
{"task_id": "Organize_The_Beverage_Cooler_20250630_003", "episode_index": 24, "video_path": "Organize_The_Beverage_Cooler_20250630_003/videos/chunk-000/{video_key}/episode_000024.mp4", "length": 6427, "action_config": [{"action_text": "open the right cabinet door", "start_frame": 0, "end_frame": 385, "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the popsicle from the second grid from the right on the first layer", "start_frame": 385, "end_frame": 685, "skill": "Pick", "language_memory": "The right cabinet door has been opened."}, {"action_text": "pick up the ice pop and place it into the basket", "start_frame": 685, "end_frame": 917, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and picked up a popsicle from the first layer."}, {"action_text": "pick up the ice pop from the third compartment from the right on the first shelf", "start_frame": 917, "end_frame": 1233, "skill": "Pick", "language_memory": "The robot opened the right cabinet door, retrieved a popsicle from the first layer, and placed it into the basket."}, {"action_text": "pick up the popsicle from the third compartment from the right on the first shelf", "start_frame": 1233, "end_frame": 2039, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred two ice pops from the cooler to the basket."}, {"action_text": "pick up the ice pop and place it into the basket", "start_frame": 2039, "end_frame": 2313, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred multiple ice pops from the first shelf to the basket."}, {"action_text": "pick up the popsicle from the first compartment on the right in the second shelf", "start_frame": 2313, "end_frame": 2708, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred multiple ice pops and popsicles from the first shelf into the basket."}, {"action_text": "place the ice cream stick into the basket", "start_frame": 2708, "end_frame": 2977, "skill": "Place", "language_memory": "The robot opened the right cabinet door and transferred multiple ice pops and popsicles from various compartments on the first and second shelves into the basket."}, {"action_text": "pick up the middle popsicle in the basket", "start_frame": 2977, "end_frame": 3251, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred multiple ice pops and an ice cream stick from various compartments on the first and second shelves into the basket."}, {"action_text": "place the popsicle into the third compartment from the right on the first shelf of the right cabinet", "start_frame": 3251, "end_frame": 4052, "skill": "Place", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and ice pops from various compartments on the first and second shelves into the basket, then adjusted the middle popsicle within the basket."}, {"action_text": "pick up the popsicle from the basket", "start_frame": 4052, "end_frame": 4368, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and ice pops from the cabinet shelves to the basket, and returned one popsicle to the first shelf."}, {"action_text": "place the popsicle into the first compartment from the right on the second shelf of the right cabinet", "start_frame": 4368, "end_frame": 4790, "skill": "Place", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and ice pops from the cabinet shelves to the basket, and returned one popsicle to the first shelf."}, {"action_text": "pick up the popsicle from the basket", "start_frame": 4790, "end_frame": 5085, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and ice pops between the cabinet shelves and the basket, and rearranged items within the cabinet compartments."}, {"action_text": "place the popsicle into the first compartment from the right on the second shelf of the right cabinet", "start_frame": 5085, "end_frame": 5412, "skill": "Place", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and ice pops between the cabinet shelves and the basket, and arranged them into specific compartments within the cabinet."}, {"action_text": "pick up the popsicle from the basket", "start_frame": 5412, "end_frame": 5628, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and ice pops between the cabinet shelves and the basket, and organized the items by placing them into specific compartments on the first and second shelves."}, {"action_text": "place the popsicle into the second compartment from the right on the first shelf of the right cabinet", "start_frame": 5628, "end_frame": 5902, "skill": "Place", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and ice pops from the cabinet shelves to a basket, and then returned several popsicles from the basket to specific compartments on the first and second shelves of the right cabinet."}, {"action_text": "close the right cabinet door", "start_frame": 5902, "end_frame": 6427, "skill": "Close", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and ice pops from the cabinet shelves to a basket, and subsequently organized the contents of the basket back into specific compartments on the first and second shelves of the right cabinet."}], "tasks": ["organize the beverage cooler"], "detailed_task_instruction": ["Open the right cabinet door and transfer frozen treats from the shelves to the basket. First, remove the popsicle from the second grid from the right on the first layer, followed by the ice pop from the third compartment from the right on the first shelf, and then the popsicle from the third compartment from the right on the first shelf. Next, take the popsicle from the first compartment on the right in the second shelf and the ice cream stick, placing all items into the basket. Once the basket is filled, redistribute the items back into the cabinet: place the middle popsicle from the basket into the third compartment from the right on the first shelf, then move the next two popsicles from the basket into the first compartment from the right on the second shelf. Finally, place the last popsicle from the basket into the second compartment from the right on the first shelf. Close the right cabinet door to complete the organization."]}
{"task_id": "Organize_The_Beverage_Cooler_20250630_003", "episode_index": 25, "video_path": "Organize_The_Beverage_Cooler_20250630_003/videos/chunk-000/{video_key}/episode_000025.mp4", "length": 4776, "action_config": [{"action_text": "open the right cabinet door", "start_frame": 0, "end_frame": 306, "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the popsicle from the third grid from the right on the first layer", "start_frame": 306, "end_frame": 564, "skill": "Pick", "language_memory": "The right cabinet door has been opened."}, {"action_text": "pick up the ice pop and place it into the basket", "start_frame": 564, "end_frame": 803, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and picked up a popsicle from the first layer."}, {"action_text": "pick up the popsicle from the second compartment from the right on the top shelf", "start_frame": 803, "end_frame": 1234, "skill": "Pick", "language_memory": "The robot opened the right cabinet door, retrieved a popsicle from the first layer, and placed it into the basket."}, {"action_text": "pick up the popsicle and place it into the basket", "start_frame": 1234, "end_frame": 1465, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred two popsicles from the cooler to the basket."}, {"action_text": "pick up the popsicle from the first compartment on the second row from the right", "start_frame": 1465, "end_frame": 1990, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred three popsicles from the cooler to the basket."}, {"action_text": "pick up the popsicle from the first compartment on the right in the second layer", "start_frame": 1990, "end_frame": 2232, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles from various shelves and compartments into the basket."}, {"action_text": "pick up the ice pop and place it into the basket", "start_frame": 2232, "end_frame": 2499, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles from various shelves and compartments into the basket."}, {"action_text": "pick up the ice cream bar on the right side of the basket", "start_frame": 2499, "end_frame": 2773, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and ice pops from various shelves and compartments into the basket."}, {"action_text": "place the popsicle into the first compartment from the right on the second shelf of the right cabinet", "start_frame": 2773, "end_frame": 3118, "skill": "Place", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and ice cream bars from various shelves and compartments into the basket."}, {"action_text": "pick up the popsicle from the basket", "start_frame": 3118, "end_frame": 3329, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and ice pops from various shelves and compartments into the basket, and placed one popsicle into the first compartment on the second shelf of the right cabinet."}, {"action_text": "place the ice pop into the second compartment from the right on the first shelf", "start_frame": 3329, "end_frame": 3752, "skill": "Place", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and ice pops from the cooler to the basket, and moved several items from the basket back into the right cabinet."}, {"action_text": "pick up the popsicle from the basket", "start_frame": 3752, "end_frame": 4030, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and ice pops from the cooler to the basket, and subsequently organized the collected items by placing them into specific compartments on the shelves of the right cabinet."}, {"action_text": "place the popsicle into the third compartment from the right on the first shelf", "start_frame": 4030, "end_frame": 4472, "skill": "Place", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and ice pops from the cooler to a basket, and subsequently organized selected items back into specific compartments within the right cabinet."}, {"action_text": "close the right cabinet door", "start_frame": 4472, "end_frame": 4776, "skill": "Close", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and ice pops from the cooler to a basket, and subsequently organized the collected items into specific compartments on the shelves of the right cabinet."}], "tasks": ["organize the beverage cooler"], "detailed_task_instruction": ["Open the right cabinet door. Retrieve the popsicle from the third grid from the right on the first layer, the ice pop, the popsicle from the second compartment from the right on the top shelf, the popsicle from the first compartment on the second row from the right, and the popsicle from the first compartment on the right in the second layer, placing each into the basket. Also, pick up the ice cream bar located on the right side of the basket. Organize the collected items by placing the first popsicle into the first compartment from the right on the second shelf, the ice pop into the second compartment from the right on the first shelf, and the second popsicle into the third compartment from the right on the first shelf. Finally, close the right cabinet door."]}
{"task_id": "Organize_The_Beverage_Cooler_20250630_003", "episode_index": 26, "video_path": "Organize_The_Beverage_Cooler_20250630_003/videos/chunk-000/{video_key}/episode_000026.mp4", "length": 5472, "action_config": [{"action_text": "open the right cabinet door", "start_frame": 0, "end_frame": 283, "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the popsicle from the fourth compartment from the right on the second layer", "start_frame": 283, "end_frame": 409, "skill": "Pick", "language_memory": "The right cabinet door has been opened."}, {"action_text": "pick up the ice pop and place it into the basket", "start_frame": 409, "end_frame": 584, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and picked up a popsicle from the fourth compartment from the right on the second layer."}, {"action_text": "pick up the ice pop from the third compartment from the right on the second shelf", "start_frame": 584, "end_frame": 849, "skill": "Pick", "language_memory": "The robot opened the right cabinet door, retrieved a popsicle from the second layer, and placed it into the basket."}, {"action_text": "pick up the popsicle and place it into the basket", "start_frame": 849, "end_frame": 1140, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred two ice pops from the second shelf to the basket."}, {"action_text": "pick up the popsicle from the second compartment from the right on the first shelf", "start_frame": 1140, "end_frame": 1405, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred multiple ice pops from the second layer of the beverage cooler into the basket."}, {"action_text": "pick up the popsicle and place it into the basket", "start_frame": 1405, "end_frame": 1611, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred three popsicles from the beverage cooler to the basket."}, {"action_text": "pick up the popsicle from the fourth compartment from the right on the first shelf", "start_frame": 1611, "end_frame": 1894, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred three popsicles from the beverage cooler to the basket."}, {"action_text": "pick up the popsicle and place it into the basket", "start_frame": 1894, "end_frame": 2010, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred four popsicles from the first and second shelves into the basket."}, {"action_text": "close the right cabinet door", "start_frame": 2010, "end_frame": 2571, "skill": "Close", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and ice pops from various compartments on the first and second shelves into the basket."}, {"action_text": "open the right cabinet door", "start_frame": 2571, "end_frame": 2831, "skill": "Open", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and ice pops from various compartments on the first and second shelves to the basket, and then closed the right cabinet door."}, {"action_text": "pick up the second popsicle from the left", "start_frame": 2831, "end_frame": 2997, "skill": "Pick", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and ice pops from various compartments on the first and second shelves to a basket, and closed the door before reopening it."}, {"action_text": "place the popsicle into the second compartment from the right on the first shelf", "start_frame": 2997, "end_frame": 3293, "skill": "Place", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and ice pops from various compartments on the first and second shelves to a basket, and closed the door before reopening it to pick up a second popsicle from the left."}, {"action_text": "pick up the left popsicle inside the basket", "start_frame": 3293, "end_frame": 3500, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles from various compartments on the first and second shelves into a basket, and returned one popsicle to the first shelf."}, {"action_text": "place the popsicle into the fourth compartment from the right on the second shelf of the right cabinet", "start_frame": 3500, "end_frame": 3724, "skill": "Place", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles from the cabinet to the basket, closed and reopened the door, and moved a popsicle from the basket back into the cabinet."}, {"action_text": "pick up the left popsicle inside the basket", "start_frame": 3724, "end_frame": 4280, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles from the cabinet to a basket, and subsequently organized the popsicles by placing them back into specific compartments within the right cabinet."}, {"action_text": "place the ice cream bar into the third compartment from the right on the second shelf of the right cabinet", "start_frame": 4280, "end_frame": 4572, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles from the cabinet shelves to a basket, and returned some popsicles from the basket to specific compartments within the cabinet before closing and reopening the door."}, {"action_text": "pick up the popsicle from the basket", "start_frame": 4572, "end_frame": 4886, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and ice cream bars between the cabinet shelves and the basket, and rearranged specific items within the cabinet compartments."}, {"action_text": "place the popsicle into the fourth compartment from the right on the first shelf", "start_frame": 4886, "end_frame": 5227, "skill": "Place", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and ice cream bars between the cabinet shelves and the basket, and returned some items to specific compartments within the cabinet."}, {"action_text": "close the right cabinet door", "start_frame": 5227, "end_frame": 5472, "skill": "Close", "language_memory": "The robot opened and closed the right cabinet door, transferred multiple popsicles and ice cream bars between the cabinet shelves and the basket, and organized the items by placing them into specific compartments on the first and second shelves."}], "tasks": ["organize the beverage cooler"], "detailed_task_instruction": ["Open the right cabinet door and remove the popsicle from the fourth compartment on the second layer, the ice pop from the third compartment on the second shelf, the popsicle from the second compartment on the first shelf, and the popsicle from the fourth compartment on the first shelf, placing each into the basket. Close the door, then reopen it to organize the basket contents: place the second popsicle from the left into the second compartment on the first shelf, move the left popsicle from the basket to the fourth compartment on the second shelf, transfer the ice cream bar to the third compartment on the second shelf, and finally place the remaining popsicle from the basket into the fourth compartment on the first shelf. Close the right cabinet door to complete the organization."]}
{"task_id": "Organize_The_Beverage_Cooler_20250630_003", "episode_index": 27, "video_path": "Organize_The_Beverage_Cooler_20250630_003/videos/chunk-000/{video_key}/episode_000027.mp4", "length": 3947, "action_config": [{"action_text": "open the right cabinet door", "start_frame": 0, "end_frame": 289, "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the popsicle from the second compartment from the right on the second shelf", "start_frame": 289, "end_frame": 535, "skill": "Pick", "language_memory": "The right cabinet door has been opened."}, {"action_text": "pick up the popsicle and place it into the basket", "start_frame": 535, "end_frame": 845, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and picked up a popsicle from the second compartment on the second shelf."}, {"action_text": "pick up the popsicle from the fourth compartment from the right on the second shelf", "start_frame": 845, "end_frame": 1246, "skill": "Pick", "language_memory": "The robot opened the right cabinet door, retrieved a popsicle from the second compartment on the second shelf, and placed it into the basket."}, {"action_text": "pick up the popsicle and place it into the basket", "start_frame": 1246, "end_frame": 1505, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred two popsicles from the second shelf to the basket."}, {"action_text": "pick up the popsicle from the third compartment from the right on the second shelf", "start_frame": 1505, "end_frame": 1881, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred two popsicles from the second shelf to the basket."}, {"action_text": "place the popsicle into the basket", "start_frame": 1881, "end_frame": 2094, "skill": "Place", "language_memory": "The robot opened the right cabinet door and transferred three popsicles from the second shelf to the basket."}, {"action_text": "pick up the middle popsicle in the basket", "start_frame": 2094, "end_frame": 2314, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred three popsicles from the second shelf to the basket."}, {"action_text": "place the ice pop into the fourth compartment from the right on the second shelf", "start_frame": 2314, "end_frame": 2547, "skill": "Place", "language_memory": "The robot opened the right cabinet door and transferred three popsicles from the second shelf to the basket, then picked up a popsicle from the basket."}, {"action_text": "pick up the left popsicle inside the basket", "start_frame": 2547, "end_frame": 2816, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door and transferred popsicles between the second shelf compartments and the basket."}, {"action_text": "place the ice pop into the third compartment from the right on the second shelf", "start_frame": 2816, "end_frame": 3046, "skill": "Place", "language_memory": "The robot opened the right cabinet door, transferred popsicles between the second shelf compartments and the basket, and arranged the popsicles within the basket."}, {"action_text": "pick up the popsicle from the basket", "start_frame": 3046, "end_frame": 3382, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door, transferred popsicles between the second shelf compartments and the basket, and arranged the ice pops into specific slots on the second shelf."}, {"action_text": "move to the right cabinet door", "start_frame": 3382, "end_frame": 3619, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door, transferred popsicles between the second shelf compartments and the basket, and arranged them in specific slots on the second shelf."}, {"action_text": "close the right cabinet door", "start_frame": 3619, "end_frame": 3947, "skill": "Close", "language_memory": "The robot opened the right cabinet door, transferred popsicles between the cabinet shelves and the basket, and reorganized the popsicles within the cabinet compartments."}], "tasks": ["organize the beverage cooler"], "detailed_task_instruction": ["Open the right cabinet door of the beverage cooler. Retrieve three popsicles from the second shelf, specifically from the second, fourth, and third compartments from the right, and place each into the basket. Once all three are in the basket, rearrange them by taking the middle popsicle and placing it into the fourth compartment from the right on the second shelf, then taking the left popsicle from the basket and placing it into the third compartment from the right on the second shelf. Finally, take the remaining popsicle from the basket and place it into the second compartment from the right on the second shelf. Close the right cabinet door to complete the organization."]}
{"task_id": "Organize_The_Beverage_Cooler_20250630_003", "episode_index": 28, "video_path": "Organize_The_Beverage_Cooler_20250630_003/videos/chunk-000/{video_key}/episode_000028.mp4", "length": 4864, "action_config": [{"action_text": "open the right cabinet door", "start_frame": 0, "end_frame": 291, "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the popsicle from the third grid from the right on the first layer", "start_frame": 291, "end_frame": 690, "skill": "Pick", "language_memory": "The right cabinet door has been opened."}, {"action_text": "pick up the ice pop and place it into the basket", "start_frame": 690, "end_frame": 881, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and picked up a popsicle from the first layer."}, {"action_text": "pick up the popsicle from the second compartment from the right on the first shelf", "start_frame": 881, "end_frame": 1292, "skill": "Pick", "language_memory": "The robot opened the right cabinet door, retrieved a popsicle from the first layer, and placed it into the basket."}, {"action_text": "pick up the popsicle from the second compartment from the right on the first shelf", "start_frame": 1292, "end_frame": 1739, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred two popsicles from the cooler to the basket."}, {"action_text": "pick up the ice cream bar and place it into the basket", "start_frame": 1739, "end_frame": 1982, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles from the first shelf to the basket."}, {"action_text": "pick up the popsicle from the first compartment on the right in the second layer", "start_frame": 1982, "end_frame": 2425, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and an ice cream bar from the cooler shelves into the basket."}, {"action_text": "pick up the popsicle and place it into the basket", "start_frame": 2425, "end_frame": 2632, "skill": "PickAndPlace", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and an ice cream bar from the cooler shelves into the basket."}, {"action_text": "pick up the middle popsicle in the basket", "start_frame": 2632, "end_frame": 2808, "skill": "Pick", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and an ice cream bar from the cooler shelves into the basket."}, {"action_text": "place the popsicle into the first compartment from the right on the second shelf", "start_frame": 2808, "end_frame": 3138, "skill": "Place", "language_memory": "The robot opened the right cabinet door and transferred multiple popsicles and an ice cream bar from the cooler shelves into the basket, followed by adjusting the middle popsicle within the basket."}, {"action_text": "move to the basket and pick up the popsicle on the right side inside the basket", "start_frame": 3138, "end_frame": 3382, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and an ice cream bar from the cooler to a basket, and arranged a popsicle into the second shelf."}, {"action_text": "place the popsicle into the second compartment from the right on the first layer of the right cabinet", "start_frame": 3382, "end_frame": 3924, "skill": "Place", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and an ice cream bar from the cooler to a basket, and arranged some items within the basket."}, {"action_text": "pick up the popsicle from the basket", "start_frame": 3924, "end_frame": 4148, "skill": "Navigate", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and an ice cream bar from the cooler to a basket, rearranged items within the basket, and placed several popsicles into specific compartments on the first and second shelves of the right cabinet."}, {"action_text": "place the popsicle into the third compartment from the right on the first shelf of the right cabinet", "start_frame": 4148, "end_frame": 4570, "skill": "Place", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and an ice cream bar from the cooler to a basket, and then relocated several popsicles from the basket into specific compartments within the right cabinet."}, {"action_text": "close the right cabinet door", "start_frame": 4570, "end_frame": 4864, "skill": "Close", "language_memory": "The robot opened the right cabinet door, transferred multiple popsicles and an ice cream bar from the cooler to a basket, and subsequently organized the collected items by placing them into specific compartments within the right cabinet."}], "tasks": ["organize the beverage cooler"], "detailed_task_instruction": ["Open the right cabinet door and begin organizing the beverage cooler by transferring specific frozen items into a basket. First, remove the popsicle from the third grid from the right on the first layer, followed by the ice pop, and then the ice cream bar, placing each into the basket. Next, take the popsicle from the second compartment from the right on the first shelf and the one from the first compartment on the right in the second layer, adding them to the basket as well. Once these items are collected, move the middle popsicle from the basket to the first compartment from the right on the second shelf. Then, transfer the popsicle from the right side inside the basket to the second compartment from the right on the first layer. Finally, take the remaining popsicle from the basket and place it into the third compartment from the right on the first shelf before closing the right cabinet door."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 0, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000000.mp4", "length": 1588, "action_config": [{"action_text": "pick up the green dice and place it into the storage box", "start_frame": 0, "end_frame": 231, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the yellow dice and place it into the storage box", "start_frame": 231, "end_frame": 518, "skill": "PickAndPlace", "language_memory": "The green dice has been placed into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 518, "end_frame": 628, "skill": "AdjustPosture", "language_memory": "The robot has placed the green and yellow dice into the storage box."}, {"action_text": "pick up the tennis ball", "start_frame": 628, "end_frame": 814, "skill": "Pick", "language_memory": "The robot has placed the green and yellow dice into the storage box and adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 814, "end_frame": 882, "skill": "Aim", "language_memory": "The robot has placed the green and yellow dice into the storage box, adjusted its posture, and picked up the tennis ball."}, {"action_text": "pick up the tennis ball on the table and place it into the storage box", "start_frame": 882, "end_frame": 1105, "skill": "PickAndPlace", "language_memory": "The robot has placed the green and yellow dice into the storage box, adjusted its posture, picked up the tennis ball, and is currently aiming at the storage box."}, {"action_text": "close the storage box", "start_frame": 1105, "end_frame": 1421, "skill": "Close", "language_memory": "The robot has organized the green dice, yellow dice, and tennis ball into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by first picking up the green dice and placing it into the storage box, followed by picking up the yellow dice and placing it into the storage box. After adjusting the robot posture, pick up the tennis ball from the table, aim at the storage box, and place the tennis ball inside. Finally, close the storage box to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 1, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000001.mp4", "length": 1999, "action_config": [{"action_text": "pick up the red dice and place it into the storage box", "start_frame": 0, "end_frame": 488, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the yellow dice", "start_frame": 488, "end_frame": 951, "skill": "Pick", "language_memory": "The red dice has been placed into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 951, "end_frame": 1068, "skill": "Aim", "language_memory": "The red dice has been placed in the storage box, and the yellow dice is currently being held."}, {"action_text": "place the yellow die into the storage box", "start_frame": 1068, "end_frame": 1349, "skill": "Place", "language_memory": "The robot has placed the red dice into the storage box and is currently holding the yellow dice."}, {"action_text": "pick up the tennis ball on the table", "start_frame": 1349, "end_frame": 1612, "skill": "Pick", "language_memory": "The robot has placed the red dice and the yellow dice into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 1612, "end_frame": 1674, "skill": "Aim", "language_memory": "The robot has placed the red and yellow dice into the storage box and is currently holding the tennis ball."}, {"action_text": "place the tennis ball into the storage box", "start_frame": 1674, "end_frame": 1900, "skill": "Place", "language_memory": "The robot has organized the red dice, yellow dice, and tennis ball into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by picking up the red dice and placing it into the storage box, then picking up the yellow dice, aiming at the storage box, and placing the yellow die inside. Next, pick up the tennis ball from the table, aim at the storage box, and place the tennis ball into the storage box."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 2, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000002.mp4", "length": 2499, "action_config": [{"action_text": "pick up the red dice and place it into the storage box", "start_frame": 55, "end_frame": 393, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "adjust the robot posture", "start_frame": 393, "end_frame": 452, "skill": "AdjustPosture", "language_memory": "The red dice has been placed into the storage box."}, {"action_text": "pick up the brown dice", "start_frame": 452, "end_frame": 705, "skill": "Pick", "language_memory": "The robot has placed the red dice into the storage box and adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 705, "end_frame": 816, "skill": "Aim", "language_memory": "The robot has placed the red dice into the storage box and adjusted its posture, while currently holding the brown dice."}, {"action_text": "place the brown die into the storage box", "start_frame": 816, "end_frame": 946, "skill": "Place", "language_memory": "The robot has placed the red dice into the storage box and adjusted its posture while holding the brown dice."}, {"action_text": "adjust the robot posture", "start_frame": 946, "end_frame": 1033, "skill": "AdjustPosture", "language_memory": "The robot has placed the red and brown dice into the storage box."}, {"action_text": "pick up the tennis ball", "start_frame": 1033, "end_frame": 1242, "skill": "Pick", "language_memory": "The robot has placed the red and brown dice into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 1242, "end_frame": 1424, "skill": "Aim", "language_memory": "The robot has placed the red and brown dice into the storage box and is currently holding the tennis ball."}, {"action_text": "place the tennis ball into the storage box", "start_frame": 1424, "end_frame": 1586, "skill": "Place", "language_memory": "The robot has placed the red dice, brown dice, and tennis ball into the storage box."}, {"action_text": "close the storage box", "start_frame": 1586, "end_frame": 2305, "skill": "Close", "language_memory": "The robot has organized the red dice, brown dice, and tennis ball into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by first picking up the red dice and placing it into the storage box, then adjusting the robot posture. Next, pick up the brown dice, aim at the storage box, and place it inside. Adjust the robot posture again, pick up the tennis ball, aim at the storage box, and place the tennis ball inside. Finally, close the storage box."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 3, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000003.mp4", "length": 2728, "action_config": [{"action_text": "pick up the yellow dice", "start_frame": 0, "end_frame": 252, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the storage box", "start_frame": 252, "end_frame": 404, "skill": "Aim", "language_memory": "The robot has picked up the yellow dice."}, {"action_text": "place the yellow die into the storage box", "start_frame": 404, "end_frame": 525, "skill": "Place", "language_memory": "The robot has picked up the yellow dice and is currently aiming at the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 525, "end_frame": 660, "skill": "AdjustPosture", "language_memory": "The robot has picked up the yellow dice and placed it into the storage box."}, {"action_text": "pick up the tennis ball", "start_frame": 660, "end_frame": 887, "skill": "Pick", "language_memory": "The robot has picked up the yellow dice and placed it into the storage box, then adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 887, "end_frame": 1082, "skill": "Aim", "language_memory": "The robot has placed the yellow die into the storage box and is currently holding the tennis ball."}, {"action_text": "place the tennis ball into the storage box", "start_frame": 1082, "end_frame": 1220, "skill": "Place", "language_memory": "The robot has organized the yellow dice and tennis ball into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 1220, "end_frame": 1320, "skill": "AdjustPosture", "language_memory": "The robot has placed the yellow dice and tennis ball into the storage box."}, {"action_text": "pick up the tennis ball", "start_frame": 1320, "end_frame": 1557, "skill": "Pick", "language_memory": "The robot has placed the yellow dice and tennis ball into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 1557, "end_frame": 1696, "skill": "Aim", "language_memory": "The robot has organized the yellow dice and two tennis balls into the storage box and is currently holding a tennis ball."}, {"action_text": "place the tennis ball into the storage box", "start_frame": 1696, "end_frame": 1905, "skill": "Place", "language_memory": "The robot has organized the yellow dice and two tennis balls into the storage box."}, {"action_text": "close the storage box", "start_frame": 1905, "end_frame": 2636, "skill": "Close", "language_memory": "The robot has organized toys by placing a yellow die and three tennis balls into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by first picking up the yellow dice and placing it into the storage box. Next, pick up a tennis ball, aim at the storage box, and place it inside, then adjust the robot posture. Repeat this sequence by picking up the second tennis ball, aiming at the storage box, and placing it inside, followed by another posture adjustment. Finally, close the storage box to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 4, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000004.mp4", "length": 2735, "action_config": [{"action_text": "pick up the brown dice and place it into the storage box", "start_frame": 0, "end_frame": 701, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "adjust the robot posture", "start_frame": 701, "end_frame": 800, "skill": "AdjustPosture", "language_memory": "The brown dice has been placed into the storage box."}, {"action_text": "pick up the yellow dice", "start_frame": 800, "end_frame": 992, "skill": "Pick", "language_memory": "The brown dice has been placed into the storage box and the robot has adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 992, "end_frame": 1081, "skill": "Aim", "language_memory": "The robot has placed the brown dice into the storage box and adjusted its posture, while currently holding the yellow dice."}, {"action_text": "place the yellow die into the storage box", "start_frame": 1081, "end_frame": 1256, "skill": "Place", "language_memory": "The robot has placed the brown dice into the storage box and adjusted its posture while holding the yellow dice, aiming at the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 1256, "end_frame": 1345, "skill": "AdjustPosture", "language_memory": "The robot has placed the brown and yellow dice into the storage box."}, {"action_text": "pick up the green dice", "start_frame": 1345, "end_frame": 1547, "skill": "Pick", "language_memory": "The robot has placed the brown and yellow dice into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 1547, "end_frame": 1682, "skill": "Aim", "language_memory": "The robot has placed the brown and yellow dice into the storage box and is currently holding the green dice."}, {"action_text": "place the green die into the storage box", "start_frame": 1682, "end_frame": 1977, "skill": "Place", "language_memory": "The robot has placed the brown and yellow dice into the storage box and is currently holding the green dice, aiming to place it in the box."}, {"action_text": "close the storage box", "start_frame": 1977, "end_frame": 2635, "skill": "Close", "language_memory": "The robot has successfully placed the brown, yellow, and green dice into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by first adjusting the robot posture, then picking up the brown dice, aiming at the storage box, and placing it inside. Adjust the robot posture again, pick up the yellow dice, aim at the storage box, and place it inside. Perform one final posture adjustment, pick up the green dice, aim at the storage box, and place it inside. Finally, close the storage box to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 5, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000005.mp4", "length": 2338, "action_config": [{"action_text": "stay in place", "start_frame": 0, "end_frame": 30, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the red dice and place it into the storage box", "start_frame": 30, "end_frame": 465, "skill": "PickAndPlace", "language_memory": "The robot has remained stationary."}, {"action_text": "pick up the yellow dice", "start_frame": 465, "end_frame": 815, "skill": "Pick", "language_memory": "The robot remained stationary and placed the red dice into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 815, "end_frame": 942, "skill": "Aim", "language_memory": "The robot stayed in place, placed the red dice into the storage box, and picked up the yellow dice."}, {"action_text": "place the yellow die into the storage box", "start_frame": 942, "end_frame": 1122, "skill": "Place", "language_memory": "The robot has remained stationary, placed the red dice into the storage box, and picked up the yellow dice."}, {"action_text": "adjust the robot posture", "start_frame": 1122, "end_frame": 1238, "skill": "AdjustPosture", "language_memory": "The robot has placed the red and yellow dice into the storage box."}, {"action_text": "pick up the brown dice", "start_frame": 1238, "end_frame": 1463, "skill": "Pick", "language_memory": "The robot has organized the red and yellow dice into the storage box and adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 1463, "end_frame": 1566, "skill": "Aim", "language_memory": "The robot has organized the red and yellow dice into the storage box and is currently holding the brown dice."}, {"action_text": "place the brown dice into the storage box", "start_frame": 1566, "end_frame": 1718, "skill": "Place", "language_memory": "The robot has organized the red, yellow, and brown dice into the storage box and adjusted its posture."}, {"action_text": "close the storage box", "start_frame": 1718, "end_frame": 2187, "skill": "Close", "language_memory": "The robot has organized the red, yellow, and brown dice by placing them into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by first staying in place, then picking up the red dice and placing it into the storage box. Next, pick up the yellow dice, aim at the storage box, and place it inside. Adjust the robot posture, pick up the brown dice, aim at the storage box again, and place the brown dice inside. Finally, close the storage box to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 6, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000006.mp4", "length": 2997, "action_config": [{"action_text": "open the storage box", "start_frame": 0, "end_frame": 327, "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the green dice and place it into the storage box", "start_frame": 327, "end_frame": 663, "skill": "PickAndPlace", "language_memory": "The storage box has been opened."}, {"action_text": "aim at the table", "start_frame": 663, "end_frame": 846, "skill": "Aim", "language_memory": "The storage box has been opened and the green dice has been placed inside."}, {"action_text": "pick up the tennis ball", "start_frame": 846, "end_frame": 1010, "skill": "Pick", "language_memory": "The robot opened the storage box, placed the green dice inside, and aimed at the table."}, {"action_text": "pick up the blue dice", "start_frame": 1010, "end_frame": 1236, "skill": "Pick", "language_memory": "The robot opened the storage box, placed the green dice inside, aimed at the table, and picked up the tennis ball."}, {"action_text": "adjust the robot posture", "start_frame": 1236, "end_frame": 1386, "skill": "AdjustPosture", "language_memory": "The robot opened the storage box, placed the green dice inside, and picked up the tennis ball and blue dice from the table."}, {"action_text": "place the blue dice into the storage box", "start_frame": 1386, "end_frame": 1606, "skill": "Place", "language_memory": "The robot opened the storage box, placed the green dice inside, picked up the tennis ball and blue dice, and adjusted its posture."}, {"action_text": "place the yellow die into the storage box", "start_frame": 1606, "end_frame": 1871, "skill": "Place", "language_memory": "The robot opened the storage box, placed the green and blue dice inside, and adjusted its posture."}, {"action_text": "move to the tv cabinet", "start_frame": 1871, "end_frame": 1957, "skill": "Navigate", "language_memory": "The robot opened the storage box and placed the green dice, blue dice, and yellow die into it."}, {"action_text": "pick up the tennis ball", "start_frame": 1957, "end_frame": 2136, "skill": "Pick", "language_memory": "The robot opened the storage box, placed the green dice, blue dice, and yellow die into it, and moved to the TV cabinet."}, {"action_text": "place the tennis ball into the storage box", "start_frame": 2136, "end_frame": 2499, "skill": "Place", "language_memory": "The robot opened the storage box, placed the green dice, blue dice, and yellow die into it, and picked up the tennis ball twice while adjusting its posture and moving to the TV cabinet."}, {"action_text": "close the storage box", "start_frame": 2499, "end_frame": 2997, "skill": "Close", "language_memory": "The robot opened the storage box and placed the green dice, blue dice, yellow die, and tennis ball into it."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Open the storage box and place the green dice, blue dice, and yellow die inside. Aim at the table, adjust the robot posture, and pick up the tennis ball. Move to the TV cabinet, pick up the tennis ball, and place it into the storage box. Finally, close the storage box."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 7, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000007.mp4", "length": 2200, "action_config": [{"action_text": "pick up the tennis ball and place it into the storage box", "start_frame": 0, "end_frame": 289, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "adjust the robot posture", "start_frame": 289, "end_frame": 389, "skill": "AdjustPosture", "language_memory": "The tennis ball has been placed into the storage box."}, {"action_text": "pick up the red dice", "start_frame": 389, "end_frame": 749, "skill": "Pick", "language_memory": "The robot has placed the tennis ball into the storage box and adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 749, "end_frame": 838, "skill": "Aim", "language_memory": "The robot has placed the tennis ball into the storage box and picked up the red dice."}, {"action_text": "place the red dice into the storage box", "start_frame": 838, "end_frame": 967, "skill": "Place", "language_memory": "The robot has placed the tennis ball into the storage box and adjusted its posture."}, {"action_text": "adjust the robot posture", "start_frame": 967, "end_frame": 1062, "skill": "AdjustPosture", "language_memory": "The robot has placed the tennis ball and red dice into the storage box."}, {"action_text": "pick up the tennis ball", "start_frame": 1062, "end_frame": 1262, "skill": "Pick", "language_memory": "The robot has placed the tennis ball and red dice into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 1262, "end_frame": 1379, "skill": "Aim", "language_memory": "The robot has organized the tennis ball and red dice into the storage box."}, {"action_text": "place the tennis ball into the storage box", "start_frame": 1379, "end_frame": 1582, "skill": "Place", "language_memory": "The robot has organized the tennis ball and red dice into the storage box."}, {"action_text": "close the storage box", "start_frame": 1582, "end_frame": 2009, "skill": "Close", "language_memory": "The robot has organized the toys by placing the tennis ball and red dice into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by first adjusting the robot posture, picking up the tennis ball, aiming at the storage box, and placing the tennis ball inside. Next, adjust the robot posture again, pick up the red dice, aim at the storage box, and place the red dice inside. Finally, close the storage box to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 8, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000008.mp4", "length": 1940, "action_config": [{"action_text": "pick up the green dice and place it into the storage box", "start_frame": 0, "end_frame": 432, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the tennis ball and place it into the storage box", "start_frame": 432, "end_frame": 772, "skill": "PickAndPlace", "language_memory": "The green dice has been placed into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 772, "end_frame": 843, "skill": "AdjustPosture", "language_memory": "The robot has placed the green dice and tennis ball into the storage box."}, {"action_text": "pick up the tennis ball", "start_frame": 843, "end_frame": 1078, "skill": "Pick", "language_memory": "The robot has placed the green dice and tennis ball into the storage box and adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 1078, "end_frame": 1131, "skill": "Aim", "language_memory": "The robot has placed the green dice and tennis ball into the storage box and adjusted its posture."}, {"action_text": "place the tennis ball into the storage box", "start_frame": 1131, "end_frame": 1393, "skill": "Place", "language_memory": "The robot has placed the green dice and tennis ball into the storage box, adjusted its posture, and is currently aiming at the storage box."}, {"action_text": "close the storage box", "start_frame": 1393, "end_frame": 1837, "skill": "Close", "language_memory": "The robot has organized the green dice and tennis balls into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by first picking up the green dice and placing it into the storage box. Next, pick up the tennis ball, adjust the robot posture, aim at the storage box, and place the tennis ball inside. Finally, close the storage box to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 9, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000009.mp4", "length": 2148, "action_config": [{"action_text": "pick up the red dice and place it into the storage box", "start_frame": 0, "end_frame": 467, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the brown dice and place it into the storage box", "start_frame": 467, "end_frame": 891, "skill": "PickAndPlace", "language_memory": "The red dice has been placed into the storage box."}, {"action_text": "aim at the sky", "start_frame": 891, "end_frame": 975, "skill": "Aim", "language_memory": "The robot has placed the red and brown dice into the storage box."}, {"action_text": "pick up the tennis ball", "start_frame": 975, "end_frame": 1232, "skill": "Pick", "language_memory": "The robot has placed the red and brown dice into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 1232, "end_frame": 1338, "skill": "Aim", "language_memory": "The robot has placed the red and brown dice into the storage box and picked up the tennis ball."}, {"action_text": "place the tennis ball into the storage box", "start_frame": 1338, "end_frame": 1517, "skill": "Place", "language_memory": "The robot has placed the red and brown dice into the storage box, picked up the tennis ball, and is currently aiming at the storage box."}, {"action_text": "close the storage box", "start_frame": 1517, "end_frame": 2009, "skill": "Close", "language_memory": "The robot has placed the red dice, brown dice, and tennis ball into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by first picking up the red dice and placing it into the storage box, followed by picking up the brown dice and placing it into the storage box. After these items are stored, aim at the sky, then pick up the tennis ball. Aim at the storage box again and place the tennis ball inside. Finally, close the storage box to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 10, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000010.mp4", "length": 2618, "action_config": [{"action_text": "move to the storage box", "start_frame": 0, "end_frame": 107, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the brown dice", "start_frame": 107, "end_frame": 328, "skill": "Pick", "language_memory": "The robot has moved to the storage box."}, {"action_text": "pick up the brown dice and place it into the storage box", "start_frame": 328, "end_frame": 470, "skill": "PickAndPlace", "language_memory": "The robot has moved to the storage box and picked up the brown dice."}, {"action_text": "pick up the tennis ball and place it into the storage box", "start_frame": 470, "end_frame": 1182, "skill": "PickAndPlace", "language_memory": "The robot moved to the storage box and placed the brown dice inside."}, {"action_text": "adjust the robot posture", "start_frame": 1182, "end_frame": 1282, "skill": "AdjustPosture", "language_memory": "The robot has moved to the storage box and placed the brown dice and tennis ball inside."}, {"action_text": "pick up the yellow dice", "start_frame": 1282, "end_frame": 1515, "skill": "Pick", "language_memory": "The robot has moved to the storage box, placed the brown dice and tennis ball inside, and adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 1515, "end_frame": 1615, "skill": "Aim", "language_memory": "The robot moved to the storage box, placed the brown dice and tennis ball inside, adjusted its posture, and picked up the yellow dice."}, {"action_text": "place the yellow die into the storage box", "start_frame": 1615, "end_frame": 1782, "skill": "Place", "language_memory": "The robot has moved to the storage box and successfully placed the brown dice, tennis ball, and yellow dice inside."}, {"action_text": "close the storage box with the lid", "start_frame": 1782, "end_frame": 2508, "skill": "Close", "language_memory": "The robot has moved to the storage box and successfully placed the brown dice, tennis ball, and yellow dice into it."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Move to the storage box and begin organizing the toys. First, pick up the brown dice and place it into the storage box. Next, pick up the tennis ball and place it into the storage box. Adjust your posture, then pick up the yellow dice, aim at the storage box, and place the yellow die inside. Finally, close the storage box with the lid to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 11, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000011.mp4", "length": 2781, "action_config": [{"action_text": "pick up the brown dice and place it into the storage box", "start_frame": 0, "end_frame": 310, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the yellow dice and place it into the storage box", "start_frame": 310, "end_frame": 616, "skill": "PickAndPlace", "language_memory": "The brown dice has been placed into the storage box."}, {"action_text": "pick up the tennis ball on the right and place it into the storage box", "start_frame": 616, "end_frame": 899, "skill": "PickAndPlace", "language_memory": "The robot has placed the brown and yellow dice into the storage box."}, {"action_text": "pick up the left tennis ball and place it into the storage box", "start_frame": 899, "end_frame": 1202, "skill": "PickAndPlace", "language_memory": "The robot has placed the brown dice, yellow dice, and a tennis ball into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 1202, "end_frame": 1274, "skill": "AdjustPosture", "language_memory": "The robot has placed the brown dice, yellow dice, and two tennis balls into the storage box."}, {"action_text": "pick up the red dice", "start_frame": 1274, "end_frame": 1535, "skill": "Pick", "language_memory": "The robot has placed the brown dice, yellow dice, and both tennis balls into the storage box and adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 1535, "end_frame": 1625, "skill": "Aim", "language_memory": "The robot has placed the brown dice, yellow dice, both tennis balls, and adjusted its posture, while currently holding the red dice."}, {"action_text": "place the red die into the storage box", "start_frame": 1625, "end_frame": 1799, "skill": "Place", "language_memory": "The robot has organized the brown dice, yellow dice, both tennis balls, and the red dice into the storage box, adjusted its posture, and is currently aiming at the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 1799, "end_frame": 1886, "skill": "AdjustPosture", "language_memory": "The robot has organized the brown dice, yellow dice, both tennis balls, and the red dice into the storage box."}, {"action_text": "pick up the green dice", "start_frame": 1886, "end_frame": 2041, "skill": "Pick", "language_memory": "The robot has organized the brown dice, yellow dice, both tennis balls, and the red dice into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 2041, "end_frame": 2143, "skill": "Aim", "language_memory": "The robot has organized the brown, yellow, and red dice along with both tennis balls into the storage box."}, {"action_text": "place the green die into the storage box", "start_frame": 2143, "end_frame": 2279, "skill": "Place", "language_memory": "The robot has organized the brown, yellow, and red dice along with both tennis balls into the storage box."}, {"action_text": "close the storage box with the lid", "start_frame": 2279, "end_frame": 2626, "skill": "Close", "language_memory": "The robot has successfully organized the brown, yellow, red, and green dice along with both tennis balls into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the scattered toys by placing the brown dice, yellow dice, tennis ball on the right, left tennis ball, red dice, and green dice into the storage box. Perform necessary robot posture adjustments between picking up the red and green dice to ensure proper alignment before aiming and placing each item. Once all six items are securely inside, close the storage box with its lid to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 12, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000012.mp4", "length": 3943, "action_config": [{"action_text": "move to the storage box", "start_frame": 0, "end_frame": 113, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the yellow dice and place it into the storage box", "start_frame": 113, "end_frame": 477, "skill": "PickAndPlace", "language_memory": "The robot has moved to the storage box."}, {"action_text": "pick up the green dice and place it into the storage box", "start_frame": 477, "end_frame": 769, "skill": "PickAndPlace", "language_memory": "The robot moved to the storage box and placed the yellow dice inside."}, {"action_text": "pick up the red dice and place it into the storage box", "start_frame": 769, "end_frame": 1046, "skill": "PickAndPlace", "language_memory": "The robot moved to the storage box and placed the yellow and green dice inside."}, {"action_text": "stay in place", "start_frame": 1046, "end_frame": 1180, "skill": "Navigate", "language_memory": "The robot moved to the storage box and placed the yellow, green, and red dice inside."}, {"action_text": "pick up the red dice and place it into the storage box", "start_frame": 1180, "end_frame": 1266, "skill": "PickAndPlace", "language_memory": "The robot moved to the storage box and placed the yellow, green, and red dice inside."}, {"action_text": "adjust the robot posture", "start_frame": 1266, "end_frame": 1338, "skill": "AdjustPosture", "language_memory": "The robot moved to the storage box and placed multiple dice, including yellow, green, and red ones, into the box."}, {"action_text": "pick up the tennis ball on the right side of the table", "start_frame": 1338, "end_frame": 1599, "skill": "Pick", "language_memory": "The robot moved to the storage box and placed multiple dice, including yellow, green, and red ones, into the box before adjusting its posture."}, {"action_text": "aim at the storage box", "start_frame": 1599, "end_frame": 1692, "skill": "Aim", "language_memory": "The robot moved to the storage box, placed the yellow, green, and red dice into the box, adjusted its posture, and picked up a tennis ball from the right side of the table."}, {"action_text": "place the tennis ball into the storage box", "start_frame": 1692, "end_frame": 1825, "skill": "Place", "language_memory": "The robot moved to the storage box, placed three dice inside, adjusted its posture, picked up a tennis ball, and aimed at the storage box."}, {"action_text": "aim at the table", "start_frame": 1825, "end_frame": 1943, "skill": "Aim", "language_memory": "The robot moved to the storage box, placed the yellow, green, and red dice into the box, adjusted its posture, and placed a tennis ball into the storage box."}, {"action_text": "pick up the tennis ball", "start_frame": 1943, "end_frame": 2169, "skill": "Pick", "language_memory": "The robot has moved to the storage box, placed the yellow, green, and red dice along with a tennis ball into the box, adjusted its posture, and is currently aiming at the table."}, {"action_text": "aim at the storage box", "start_frame": 2169, "end_frame": 2220, "skill": "Aim", "language_memory": "The robot has moved to the storage box, organized the yellow, green, and red dice, and placed the tennis ball into the storage box."}, {"action_text": "place the tennis ball into the storage box", "start_frame": 2220, "end_frame": 2574, "skill": "Place", "language_memory": "The robot has moved to the storage box, placed multiple dice and a tennis ball into the box, and adjusted its posture."}, {"action_text": "pick up the brown dice", "start_frame": 2574, "end_frame": 2836, "skill": "Pick", "language_memory": "The robot has moved to the storage box and successfully placed multiple dice and tennis balls into it."}, {"action_text": "aim at the storage box", "start_frame": 2836, "end_frame": 2933, "skill": "Aim", "language_memory": "The robot has moved to the storage box and successfully placed the yellow, green, and red dice, as well as two tennis balls, into the box, while currently holding a brown dice."}, {"action_text": "place the brown die into the storage box", "start_frame": 2933, "end_frame": 3164, "skill": "Place", "language_memory": "The robot has moved to the storage box and successfully placed multiple dice and tennis balls into it."}, {"action_text": "close the storage box", "start_frame": 3164, "end_frame": 3779, "skill": "Close", "language_memory": "The robot has moved to the storage box and successfully placed multiple dice and tennis balls into it."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by moving to the storage box and placing the yellow, green, and red dice inside. Retrieve the tennis ball from the right side of the table, aim at the storage box, and place the ball inside. Next, pick up the brown dice and place it into the storage box. Finally, close the storage box."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 13, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000013.mp4", "length": 1822, "action_config": [{"action_text": "aim at the floor", "start_frame": 0, "end_frame": 79, "skill": "Aim", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the red dice and place it into the storage box", "start_frame": 79, "end_frame": 354, "skill": "PickAndPlace", "language_memory": "The robot aimed at the floor."}, {"action_text": "pick up the yellow die and place it into the storage box", "start_frame": 354, "end_frame": 621, "skill": "PickAndPlace", "language_memory": "The robot aimed at the floor and placed the red dice into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 621, "end_frame": 772, "skill": "AdjustPosture", "language_memory": "The robot has placed the red dice and yellow die into the storage box."}, {"action_text": "pick up the brown dice", "start_frame": 772, "end_frame": 973, "skill": "Pick", "language_memory": "The robot aimed at the floor, picked up the red and yellow dice, and placed them into the storage box before adjusting its posture."}, {"action_text": "retreat from the table", "start_frame": 973, "end_frame": 1022, "skill": "Retreat", "language_memory": "The robot aimed at the floor, placed the red and yellow dice into the storage box, adjusted its posture, and picked up the brown dice."}, {"action_text": "place the brown die into the storage box", "start_frame": 1022, "end_frame": 1195, "skill": "Place", "language_memory": "The robot has placed the red and yellow dice into the storage box, adjusted its posture, and retreated from the table after picking up the brown dice."}, {"action_text": "aim at the storage box", "start_frame": 1195, "end_frame": 1295, "skill": "Aim", "language_memory": "The robot has organized the red, yellow, and brown dice by placing them into the storage box."}, {"action_text": "pick up the storage box lid", "start_frame": 1295, "end_frame": 1485, "skill": "Pick", "language_memory": "The robot has organized the red, yellow, and brown dice by placing them into the storage box."}, {"action_text": "close the storage box with the lid", "start_frame": 1485, "end_frame": 1678, "skill": "Close", "language_memory": "The robot has organized the red, yellow, and brown dice into the storage box and is currently holding the storage box lid."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the scattered dice by first aiming at the floor to pick up the red die and place it into the storage box, followed by picking up the yellow die and placing it in the same box. Adjust the robot's posture, then pick up the brown die from the table before retreating. Aim at the storage box, pick up its lid, and close the box securely to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 14, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000014.mp4", "length": 2097, "action_config": [{"action_text": "pick up the brown dice", "start_frame": 21, "end_frame": 295, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "place the brown die into the storage box", "start_frame": 295, "end_frame": 530, "skill": "Place", "language_memory": "The robot has picked up the brown dice."}, {"action_text": "pick up the red dice and place it into the storage box", "start_frame": 530, "end_frame": 798, "skill": "PickAndPlace", "language_memory": "The brown dice has been picked up and placed into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 798, "end_frame": 901, "skill": "AdjustPosture", "language_memory": "The robot has placed the brown and red dice into the storage box."}, {"action_text": "pick up the yellow dice", "start_frame": 901, "end_frame": 1146, "skill": "Pick", "language_memory": "The robot has organized the brown and red dice into the storage box and adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 1146, "end_frame": 1257, "skill": "Aim", "language_memory": "The robot has organized the brown and red dice into the storage box and is currently holding the yellow dice."}, {"action_text": "place the yellow die into the storage box", "start_frame": 1257, "end_frame": 1445, "skill": "Place", "language_memory": "The robot has organized the brown, red, and yellow dice into the storage box and adjusted its posture to aim at the box."}, {"action_text": "close the storage box with the lid", "start_frame": 1445, "end_frame": 1913, "skill": "Close", "language_memory": "The robot has successfully organized the brown, red, and yellow dice by placing them into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by first picking up the brown dice and placing it into the storage box, followed by picking up the red dice and placing it into the same box. Afterward, adjust the robot posture, pick up the yellow dice, aim at the storage box, and place the yellow die inside. Finally, close the storage box with the lid to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 15, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000015.mp4", "length": 2375, "action_config": [{"action_text": "pick up the green dice", "start_frame": 0, "end_frame": 271, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the storage box", "start_frame": 271, "end_frame": 429, "skill": "Aim", "language_memory": "The robot has picked up the green dice."}, {"action_text": "place the green die into the storage box", "start_frame": 429, "end_frame": 587, "skill": "Place", "language_memory": "The robot has picked up the green dice and is currently aiming at the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 587, "end_frame": 678, "skill": "AdjustPosture", "language_memory": "The robot has picked up the green dice and placed it into the storage box."}, {"action_text": "pick up the yellow dice", "start_frame": 678, "end_frame": 916, "skill": "Pick", "language_memory": "The robot has picked up the green dice and placed it into the storage box, then adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 916, "end_frame": 1032, "skill": "Aim", "language_memory": "The robot has placed the green die into the storage box and is currently holding the yellow die."}, {"action_text": "place the yellow die into the storage box", "start_frame": 1032, "end_frame": 1190, "skill": "Place", "language_memory": "The robot has placed the green die into the storage box and is currently holding the yellow die, aiming at the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 1190, "end_frame": 1268, "skill": "AdjustPosture", "language_memory": "The robot has successfully placed the green and yellow dice into the storage box."}, {"action_text": "pick up the tennis ball", "start_frame": 1268, "end_frame": 1470, "skill": "Pick", "language_memory": "The robot has successfully placed the green and yellow dice into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 1470, "end_frame": 1629, "skill": "Aim", "language_memory": "The robot has placed the green and yellow dice into the storage box and is currently holding the tennis ball."}, {"action_text": "place the tennis ball into the storage box", "start_frame": 1629, "end_frame": 1787, "skill": "Place", "language_memory": "The robot has placed the green dice, yellow dice, and tennis ball into the storage box."}, {"action_text": "pick up the storage box lid", "start_frame": 1787, "end_frame": 2000, "skill": "Pick", "language_memory": "The robot has organized the green dice, yellow dice, and tennis ball into the storage box."}, {"action_text": "close the storage box with the lid", "start_frame": 2000, "end_frame": 2307, "skill": "Close", "language_memory": "The robot has organized the green dice, yellow dice, and tennis ball into the storage box and is currently holding the storage box lid."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by first picking up the green die, aiming at the storage box, and placing it inside. Adjust the robot posture, then repeat this process for the yellow die. Next, adjust the posture again, pick up the tennis ball, aim at the storage box, and place it inside. Finally, pick up the storage box lid and close the box to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 16, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000016.mp4", "length": 2371, "action_config": [{"action_text": "pick up the tennis ball and place it into the storage box", "start_frame": 30, "end_frame": 441, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "adjust the robot posture", "start_frame": 441, "end_frame": 526, "skill": "AdjustPosture", "language_memory": "The tennis ball has been placed into the storage box."}, {"action_text": "pick up the red dice", "start_frame": 526, "end_frame": 735, "skill": "Pick", "language_memory": "The robot has placed the tennis ball into the storage box and adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 735, "end_frame": 861, "skill": "Aim", "language_memory": "The robot has placed the tennis ball into the storage box and picked up the red dice."}, {"action_text": "place the red die into the storage box", "start_frame": 861, "end_frame": 1012, "skill": "Place", "language_memory": "The robot has placed the tennis ball into the storage box and adjusted its posture."}, {"action_text": "adjust the robot posture", "start_frame": 1012, "end_frame": 1100, "skill": "AdjustPosture", "language_memory": "The robot has placed the tennis ball and red dice into the storage box."}, {"action_text": "pick up the yellow dice", "start_frame": 1100, "end_frame": 1431, "skill": "Pick", "language_memory": "The robot has organized the tennis ball and red dice into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 1431, "end_frame": 1534, "skill": "Aim", "language_memory": "The robot has organized the tennis ball and red dice into the storage box and is currently holding the yellow dice."}, {"action_text": "place the yellow die into the storage box", "start_frame": 1534, "end_frame": 1669, "skill": "Place", "language_memory": "The robot has organized the tennis ball, red dice, and yellow dice into the storage box."}, {"action_text": "pick up the storage box lid", "start_frame": 1669, "end_frame": 2036, "skill": "Pick", "language_memory": "The robot has organized the tennis ball, red dice, and yellow dice into the storage box."}, {"action_text": "close the storage box with the lid", "start_frame": 2036, "end_frame": 2206, "skill": "Close", "language_memory": "The robot has organized the tennis ball, red dice, and yellow dice into the storage box and is currently holding the storage box lid."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by first picking up the tennis ball and placing it into the storage box. Adjust the robot posture, then pick up the red dice, aim at the storage box, and place the red die inside. Adjust the robot posture again, pick up the yellow dice, aim at the storage box, and place the yellow die inside. Finally, pick up the storage box lid and close the storage box."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 17, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000017.mp4", "length": 1949, "action_config": [{"action_text": "pick up the yellow die and place it into the storage box", "start_frame": 0, "end_frame": 373, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the storage box", "start_frame": 373, "end_frame": 390, "skill": "Aim", "language_memory": "The yellow die has been placed into the storage box."}, {"action_text": "pick up the brown dice", "start_frame": 390, "end_frame": 631, "skill": "Pick", "language_memory": "The robot has placed the yellow die into the storage box."}, {"action_text": "place the brown die into the storage box", "start_frame": 631, "end_frame": 744, "skill": "Place", "language_memory": "The robot has placed the yellow die into the storage box and is currently holding the brown dice."}, {"action_text": "adjust the robot posture", "start_frame": 744, "end_frame": 852, "skill": "AdjustPosture", "language_memory": "The robot has placed the yellow die and brown dice into the storage box."}, {"action_text": "pick up the tennis ball", "start_frame": 852, "end_frame": 1144, "skill": "Pick", "language_memory": "The robot has placed the yellow and brown dice into the storage box and adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 1144, "end_frame": 1212, "skill": "Aim", "language_memory": "The robot has placed the yellow die and brown die into the storage box and is currently holding the tennis ball."}, {"action_text": "place the tennis ball into the storage box", "start_frame": 1212, "end_frame": 1400, "skill": "Place", "language_memory": "The robot has placed the yellow die, brown die, and tennis ball into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 1400, "end_frame": 1493, "skill": "Aim", "language_memory": "The robot has placed the yellow die, brown die, and tennis ball into the storage box."}, {"action_text": "close the storage box with the lid", "start_frame": 1493, "end_frame": 1850, "skill": "Close", "language_memory": "The robot has placed the yellow die, brown die, and tennis ball into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by first picking up the yellow die and placing it into the storage box. Next, aim at the storage box, pick up the brown die, and place it inside. Adjust the robot posture, then pick up the tennis ball, aim at the storage box again, and place the tennis ball into the box. Finally, close the storage box with the lid."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 18, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000018.mp4", "length": 2432, "action_config": [{"action_text": "pick up the red dice and place it into the storage box", "start_frame": 31, "end_frame": 410, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the tennis ball", "start_frame": 410, "end_frame": 474, "skill": "Aim", "language_memory": "The red dice has been placed into the storage box."}, {"action_text": "pick up the tennis ball", "start_frame": 474, "end_frame": 651, "skill": "Pick", "language_memory": "The red dice has been placed into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 651, "end_frame": 753, "skill": "Aim", "language_memory": "The robot has placed the red dice into the storage box and picked up the tennis ball."}, {"action_text": "place the tennis ball into the storage box", "start_frame": 753, "end_frame": 876, "skill": "Place", "language_memory": "The robot has placed the red dice into the storage box and picked up the tennis ball, currently aiming at the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 876, "end_frame": 968, "skill": "AdjustPosture", "language_memory": "The robot has placed the red dice and the tennis ball into the storage box."}, {"action_text": "pick up the brown dice", "start_frame": 968, "end_frame": 1183, "skill": "Pick", "language_memory": "The robot has organized the red dice and tennis ball into the storage box and adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 1183, "end_frame": 1275, "skill": "Aim", "language_memory": "The robot has organized the red dice and tennis ball into the storage box and is currently holding the brown dice."}, {"action_text": "place the brown die into the storage box", "start_frame": 1275, "end_frame": 1441, "skill": "Place", "language_memory": "The robot has organized the red dice, tennis ball, and brown dice into the storage box."}, {"action_text": "pick up the storage box lid", "start_frame": 1441, "end_frame": 1705, "skill": "Pick", "language_memory": "The robot has organized the red dice, tennis ball, and brown dice into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 1705, "end_frame": 1804, "skill": "Aim", "language_memory": "The robot has organized the red dice, tennis ball, and brown dice into the storage box and is currently holding the storage box lid."}, {"action_text": "close the storage box with the lid", "start_frame": 1804, "end_frame": 2233, "skill": "Close", "language_memory": "The robot has organized the red dice, tennis ball, and brown dice into the storage box and is currently aiming at the box lid."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by first picking up the red dice and placing it into the storage box. Next, aim at and pick up the tennis ball, then aim at the storage box and place the tennis ball inside. Adjust the robot posture, pick up the brown dice, aim at the storage box, and place the brown die inside. Finally, pick up the storage box lid, aim at the storage box, and close the box with the lid."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 19, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000019.mp4", "length": 3169, "action_config": [{"action_text": "aim at the floor", "start_frame": 0, "end_frame": 69, "skill": "Aim", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the tennis ball and place it into the storage box", "start_frame": 69, "end_frame": 620, "skill": "PickAndPlace", "language_memory": "The robot aimed at the floor."}, {"action_text": "move to the tennis ball", "start_frame": 620, "end_frame": 781, "skill": "Navigate", "language_memory": "The robot aimed at the floor and placed the tennis ball into the storage box."}, {"action_text": "pick up the tennis ball", "start_frame": 781, "end_frame": 1369, "skill": "Pick", "language_memory": "The robot has moved to the tennis ball and placed it into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 1369, "end_frame": 1494, "skill": "Aim", "language_memory": "The robot has moved to the tennis ball and placed it into the storage box."}, {"action_text": "place the tennis ball into the storage box", "start_frame": 1494, "end_frame": 1653, "skill": "Place", "language_memory": "The robot has moved to the tennis ball, picked it up, and placed it into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 1653, "end_frame": 1739, "skill": "AdjustPosture", "language_memory": "The robot has successfully picked up the tennis ball and placed it into the storage box."}, {"action_text": "pick up the brown dice", "start_frame": 1739, "end_frame": 1920, "skill": "Pick", "language_memory": "The robot has picked up the tennis ball and placed it into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 1920, "end_frame": 2041, "skill": "Aim", "language_memory": "The robot has organized toys by picking up and placing a tennis ball into the storage box and picking up a brown dice."}, {"action_text": "place the brown die into the storage box", "start_frame": 2041, "end_frame": 2251, "skill": "Place", "language_memory": "The robot has organized the tennis ball and brown dice into the storage box."}, {"action_text": "pick up the storage box lid", "start_frame": 2251, "end_frame": 2620, "skill": "Pick", "language_memory": "The robot has organized toys by placing a tennis ball and a brown die into the storage box."}, {"action_text": "close the storage box with the lid", "start_frame": 2620, "end_frame": 3072, "skill": "Close", "language_memory": "The robot has organized the tennis ball and brown dice into the storage box and is currently holding the storage box lid."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the scattered toys by first navigating to the tennis ball, picking it up, and placing it into the storage box. Next, move to the brown dice, pick it up, and place it inside the same storage box. Finally, retrieve the storage box lid and close the box securely to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 20, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000020.mp4", "length": 1959, "action_config": [{"action_text": "pick up the brown dice", "start_frame": 0, "end_frame": 266, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "retreat from the storage box", "start_frame": 266, "end_frame": 391, "skill": "Retreat", "language_memory": "The robot has picked up the brown dice."}, {"action_text": "place the brown die into the storage box", "start_frame": 391, "end_frame": 588, "skill": "Place", "language_memory": "The robot picked up the brown dice and retreated from the storage box."}, {"action_text": "pick up the red dice and place it into the storage box", "start_frame": 588, "end_frame": 1019, "skill": "PickAndPlace", "language_memory": "The robot picked up the brown dice and placed it into the storage box."}, {"action_text": "pick up the yellow dice and place it into the storage box", "start_frame": 1019, "end_frame": 1381, "skill": "PickAndPlace", "language_memory": "The robot has placed the brown and red dice into the storage box."}, {"action_text": "close the storage box with the lid", "start_frame": 1381, "end_frame": 1743, "skill": "Close", "language_memory": "The robot has placed the brown, red, and yellow dice into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by first picking up the brown dice and placing it into the storage box, then retrieving the red dice and placing it into the same box, followed by picking up the yellow dice and placing it into the storage box. After all three dice have been stored, retreat from the storage box and close it with the lid."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 21, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000021.mp4", "length": 2627, "action_config": [{"action_text": "pick up the red dice", "start_frame": 0, "end_frame": 232, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the storage box", "start_frame": 232, "end_frame": 382, "skill": "Aim", "language_memory": "The robot has picked up the red dice."}, {"action_text": "place the red die into the storage box", "start_frame": 382, "end_frame": 553, "skill": "Place", "language_memory": "The robot has picked up the red dice and is currently aiming at the storage box."}, {"action_text": "pick up the brown dice and place it into the storage box", "start_frame": 553, "end_frame": 1129, "skill": "PickAndPlace", "language_memory": "The robot has picked up the red dice and placed it into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 1129, "end_frame": 1207, "skill": "AdjustPosture", "language_memory": "The robot has placed the red and brown dice into the storage box."}, {"action_text": "pick up the yellow dice", "start_frame": 1207, "end_frame": 1414, "skill": "Pick", "language_memory": "The robot has organized the red and brown dice into the storage box and adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 1414, "end_frame": 1507, "skill": "Aim", "language_memory": "The robot has organized the red, brown, and yellow dice into the storage box and adjusted its posture."}, {"action_text": "place the yellow die into the storage box", "start_frame": 1507, "end_frame": 1657, "skill": "Place", "language_memory": "The robot has organized the red, brown, and yellow dice into the storage box and adjusted its posture."}, {"action_text": "close the storage box with the lid", "start_frame": 1657, "end_frame": 2480, "skill": "Close", "language_memory": "The robot has successfully organized the red, brown, and yellow dice into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the scattered dice by first picking up the red die and placing it into the storage box. Next, pick up the brown die and place it into the same box. After handling the brown die, adjust the robot's posture to reach the yellow die. Pick up the yellow die, aim at the storage box, and place it inside. Finally, close the storage box with its lid to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 22, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000022.mp4", "length": 2876, "action_config": [{"action_text": "pick up the tennis ball and place it into the storage box", "start_frame": 0, "end_frame": 364, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the brown dice", "start_frame": 364, "end_frame": 574, "skill": "Pick", "language_memory": "The tennis ball has been placed into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 574, "end_frame": 645, "skill": "Aim", "language_memory": "The robot has placed the tennis ball into the storage box and picked up the brown dice."}, {"action_text": "place the brown die into the storage box", "start_frame": 645, "end_frame": 739, "skill": "Place", "language_memory": "The robot has placed the tennis ball into the storage box and picked up the brown dice."}, {"action_text": "adjust the robot posture", "start_frame": 739, "end_frame": 809, "skill": "AdjustPosture", "language_memory": "The robot has placed the tennis ball and the brown die into the storage box."}, {"action_text": "pick up the green dice", "start_frame": 809, "end_frame": 1047, "skill": "Pick", "language_memory": "The robot has placed the tennis ball and brown die into the storage box and adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 1047, "end_frame": 1227, "skill": "Aim", "language_memory": "The robot has organized the tennis ball and brown dice into the storage box and is currently holding the green dice."}, {"action_text": "place the green die into the storage box", "start_frame": 1227, "end_frame": 1293, "skill": "Place", "language_memory": "The robot has organized the tennis ball and brown dice into the storage box and is currently preparing to place the green dice."}, {"action_text": "adjust the robot posture", "start_frame": 1293, "end_frame": 1360, "skill": "AdjustPosture", "language_memory": "The robot has organized the tennis ball, brown dice, and green dice into the storage box."}, {"action_text": "pick up the red dice", "start_frame": 1360, "end_frame": 1711, "skill": "Pick", "language_memory": "The robot has organized the tennis ball, brown dice, and green dice into the storage box."}, {"action_text": "pick up the red die", "start_frame": 1711, "end_frame": 1754, "skill": "Pick", "language_memory": "The robot has organized the tennis ball and brown, green, and red dice into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 1754, "end_frame": 1883, "skill": "Aim", "language_memory": "The robot has organized the tennis ball and all dice into the storage box."}, {"action_text": "place the red die into the storage box", "start_frame": 1883, "end_frame": 2004, "skill": "Place", "language_memory": "The robot has organized the tennis ball and all dice into the storage box."}, {"action_text": "pick up the storage box lid", "start_frame": 2004, "end_frame": 2219, "skill": "Pick", "language_memory": "The robot has organized the toys by placing the tennis ball and all three dice (brown, green, and red) into the storage box."}, {"action_text": "close the storage box with the lid", "start_frame": 2219, "end_frame": 2719, "skill": "Close", "language_memory": "The robot has organized the tennis ball and all dice into the storage box and is currently holding the storage box lid."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by picking up the tennis ball, the brown dice, the green dice, and the red dice, placing each item into the storage box. During this process, aim at the storage box before placing each die and adjust the robot posture as needed between items. Finally, pick up the storage box lid and close the box to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 23, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000023.mp4", "length": 3267, "action_config": [{"action_text": "pick up the red dice and place it into the storage box", "start_frame": 0, "end_frame": 361, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the second tennis ball from the bottom and place it into the storage box", "start_frame": 361, "end_frame": 633, "skill": "PickAndPlace", "language_memory": "The red dice has been placed into the storage box."}, {"action_text": "pick up the tennis ball from the ground and place it into the storage box", "start_frame": 633, "end_frame": 939, "skill": "PickAndPlace", "language_memory": "The robot has placed the red dice and a tennis ball into the storage box."}, {"action_text": "pick up the yellow dice and place it into the storage box", "start_frame": 939, "end_frame": 1211, "skill": "PickAndPlace", "language_memory": "The robot has placed the red dice and three tennis balls into the storage box."}, {"action_text": "aim at the desktop", "start_frame": 1211, "end_frame": 1300, "skill": "Aim", "language_memory": "The robot has placed the red dice, yellow dice, and three tennis balls into the storage box."}, {"action_text": "pick up the brown dice", "start_frame": 1300, "end_frame": 1547, "skill": "Pick", "language_memory": "The robot has placed the red dice, yellow dice, and two tennis balls into the storage box and is currently aiming at the desktop."}, {"action_text": "retreat from the table", "start_frame": 1547, "end_frame": 1640, "skill": "Retreat", "language_memory": "The robot has placed the red dice, two tennis balls, and the yellow dice into the storage box and is currently holding the brown dice."}, {"action_text": "pick up the brown dice and place it into the storage box", "start_frame": 1640, "end_frame": 1772, "skill": "PickAndPlace", "language_memory": "The robot has placed the red dice, two tennis balls, and the yellow dice into the storage box, picked up the brown dice, and retreated from the table."}, {"action_text": "aim at the table", "start_frame": 1772, "end_frame": 1942, "skill": "Aim", "language_memory": "The robot has organized multiple toys, including red, yellow, and brown dice along with tennis balls, by picking them up and placing them into the storage box."}, {"action_text": "pick up the green dice", "start_frame": 1942, "end_frame": 2133, "skill": "Pick", "language_memory": "The robot has organized multiple toys, including red, yellow, and brown dice along with tennis balls, by picking them up and placing them into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 2133, "end_frame": 2257, "skill": "Aim", "language_memory": "The robot has organized multiple toys, including red, yellow, and brown dice along with tennis balls, by picking them up and placing them into the storage box."}, {"action_text": "place the green die into the storage box", "start_frame": 2257, "end_frame": 2465, "skill": "Place", "language_memory": "The robot has successfully organized multiple toys, including red, yellow, and brown dice along with tennis balls, by picking them up from various locations and placing them into the storage box."}, {"action_text": "close the storage box", "start_frame": 2465, "end_frame": 3098, "skill": "Close", "language_memory": "The robot has organized multiple toys, including red, yellow, brown, and green dice, as well as tennis balls, by picking them up from various locations and placing them into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the scattered toys by placing the red dice, the second tennis ball from the bottom, the tennis ball from the ground, the yellow dice, and the brown dice into the storage box. To retrieve the brown dice, aim at the desktop, pick it up, and retreat from the table before placing it in the box. Next, aim at the table to pick up the green dice, then aim at the storage box to place the green die inside. Finally, close the storage box to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 24, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000024.mp4", "length": 2530, "action_config": [{"action_text": "pick up the tennis ball and place it into the storage box", "start_frame": 0, "end_frame": 383, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "adjust the robot posture", "start_frame": 383, "end_frame": 458, "skill": "AdjustPosture", "language_memory": "The tennis ball has been placed into the storage box."}, {"action_text": "pick up the brown dice", "start_frame": 458, "end_frame": 683, "skill": "Pick", "language_memory": "The robot has placed the tennis ball into the storage box and adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 683, "end_frame": 814, "skill": "Aim", "language_memory": "The robot has placed the tennis ball into the storage box and picked up the brown dice."}, {"action_text": "place the brown die into the storage box", "start_frame": 814, "end_frame": 956, "skill": "Place", "language_memory": "The robot has placed the tennis ball into the storage box and adjusted its posture."}, {"action_text": "adjust the robot posture", "start_frame": 956, "end_frame": 1043, "skill": "AdjustPosture", "language_memory": "The robot has placed the tennis ball and brown dice into the storage box."}, {"action_text": "pick up the yellow dice", "start_frame": 1043, "end_frame": 1269, "skill": "Pick", "language_memory": "The robot has placed the tennis ball and brown dice into the storage box."}, {"action_text": "retreat from the table", "start_frame": 1269, "end_frame": 1385, "skill": "Retreat", "language_memory": "The robot has organized the tennis ball and brown dice into the storage box and is currently holding the yellow dice."}, {"action_text": "place the yellow die into the storage box", "start_frame": 1385, "end_frame": 1578, "skill": "Place", "language_memory": "The robot has organized the tennis ball and both brown and yellow dice into the storage box."}, {"action_text": "pick up the storage box lid", "start_frame": 1578, "end_frame": 1898, "skill": "Pick", "language_memory": "The robot has organized the tennis ball, brown dice, and yellow dice into the storage box."}, {"action_text": "close the storage box with the lid", "start_frame": 1898, "end_frame": 2430, "skill": "Close", "language_memory": "The robot has organized the tennis ball, brown dice, and yellow dice into the storage box and is currently holding the storage box lid."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by first picking up the tennis ball and placing it into the storage box. Adjust the robot posture, then pick up the brown dice, aim at the storage box, and place the brown die inside. Adjust the robot posture again, pick up the yellow dice, retreat from the table, and place the yellow die into the storage box. Finally, pick up the storage box lid and close the storage box."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 25, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000025.mp4", "length": 2326, "action_config": [{"action_text": "pick up the green dice and place it into the storage box", "start_frame": 28, "end_frame": 523, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the brown dice and place it into the storage box", "start_frame": 523, "end_frame": 1086, "skill": "PickAndPlace", "language_memory": "The green dice has been placed into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 1086, "end_frame": 1185, "skill": "AdjustPosture", "language_memory": "The robot has placed the green and brown dice into the storage box."}, {"action_text": "pick up the yellow dice", "start_frame": 1185, "end_frame": 1458, "skill": "Pick", "language_memory": "The robot has placed the green and brown dice into the storage box and adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 1458, "end_frame": 1535, "skill": "Aim", "language_memory": "The robot has placed the green and brown dice into the storage box, adjusted its posture, and picked up the yellow dice."}, {"action_text": "place the yellow die into the storage box", "start_frame": 1535, "end_frame": 1680, "skill": "Place", "language_memory": "The robot has placed the green and brown dice into the storage box, adjusted its posture, and picked up the yellow dice while aiming at the storage box."}, {"action_text": "pick up the storage box lid", "start_frame": 1680, "end_frame": 1881, "skill": "Pick", "language_memory": "The robot has organized the green, brown, and yellow dice into the storage box."}, {"action_text": "close the storage box with the lid", "start_frame": 1881, "end_frame": 2160, "skill": "Close", "language_memory": "The robot has organized the green, brown, and yellow dice into the storage box and is currently holding the storage box lid."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the dice by first picking up the green dice and placing it into the storage box, followed by picking up the brown dice and placing it into the same box. After adjusting the robot posture, pick up the yellow dice, aim at the storage box, and place the yellow die inside. Finally, pick up the storage box lid and close the box securely."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 26, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000026.mp4", "length": 2497, "action_config": [{"action_text": "pick up the red dice", "start_frame": 34, "end_frame": 237, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the red dice and place it into the storage box", "start_frame": 237, "end_frame": 476, "skill": "PickAndPlace", "language_memory": "The robot has picked up the red dice."}, {"action_text": "adjust the robot posture", "start_frame": 476, "end_frame": 566, "skill": "AdjustPosture", "language_memory": "The red dice has been picked up and placed into the storage box."}, {"action_text": "pick up the brown dice", "start_frame": 566, "end_frame": 841, "skill": "Pick", "language_memory": "The robot has picked up the red dice and placed it into the storage box, then adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 841, "end_frame": 928, "skill": "Aim", "language_memory": "The robot has picked up and placed the red dice into the storage box, adjusted its posture, and picked up the brown dice."}, {"action_text": "place the brown dice into the storage box", "start_frame": 928, "end_frame": 1081, "skill": "Place", "language_memory": "The robot has picked up and placed the red dice into the storage box, adjusted its posture, picked up the brown dice, and is currently aiming at the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 1081, "end_frame": 1170, "skill": "AdjustPosture", "language_memory": "The robot has organized the red and brown dice by placing them into the storage box."}, {"action_text": "pick up the yellow dice", "start_frame": 1170, "end_frame": 1409, "skill": "Pick", "language_memory": "The robot has successfully picked up and placed both the red and brown dice into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 1409, "end_frame": 1516, "skill": "Aim", "language_memory": "The robot has successfully organized the red and brown dice into the storage box and is currently holding the yellow dice."}, {"action_text": "place the yellow die into the storage box", "start_frame": 1516, "end_frame": 1745, "skill": "Place", "language_memory": "The robot has successfully picked up and placed the red, brown, and yellow dice into the storage box."}, {"action_text": "close the storage box with the lid", "start_frame": 1745, "end_frame": 2339, "skill": "Close", "language_memory": "The robot has successfully picked up and placed the red, brown, and yellow dice into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the red, brown, and yellow dice by picking up each one sequentially, adjusting the robot posture as needed between actions, aiming at the storage box, and placing each die inside. Finally, close the storage box with its lid to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 27, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000027.mp4", "length": 3368, "action_config": [{"action_text": "pick up the tennis ball on the ground and place it into the storage box", "start_frame": 0, "end_frame": 416, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "adjust the robot posture", "start_frame": 416, "end_frame": 513, "skill": "AdjustPosture", "language_memory": "The tennis ball has been picked up from the ground and placed into the storage box."}, {"action_text": "pick up the yellow dice", "start_frame": 513, "end_frame": 959, "skill": "Pick", "language_memory": "The robot has placed the tennis ball into the storage box and adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 959, "end_frame": 1043, "skill": "Aim", "language_memory": "The robot has placed the tennis ball into the storage box and picked up the yellow dice."}, {"action_text": "place the yellow die into the storage box", "start_frame": 1043, "end_frame": 1231, "skill": "Place", "language_memory": "The robot has placed the tennis ball into the storage box and picked up the yellow dice."}, {"action_text": "adjust the robot posture", "start_frame": 1231, "end_frame": 1305, "skill": "AdjustPosture", "language_memory": "The robot has organized the tennis ball and yellow dice into the storage box."}, {"action_text": "pick up the red dice", "start_frame": 1305, "end_frame": 1783, "skill": "Pick", "language_memory": "The robot has organized the tennis ball and yellow dice into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 1783, "end_frame": 1914, "skill": "Aim", "language_memory": "The robot has organized the tennis ball and yellow dice into the storage box and is currently holding the red dice."}, {"action_text": "place the red die into the storage box", "start_frame": 1914, "end_frame": 2225, "skill": "Place", "language_memory": "The robot has organized the tennis ball and yellow and red dice into the storage box."}, {"action_text": "pick up the storage box lid", "start_frame": 2225, "end_frame": 2619, "skill": "Pick", "language_memory": "The robot has organized the tennis ball, yellow dice, and red dice into the storage box."}, {"action_text": "close the storage box", "start_frame": 2619, "end_frame": 3211, "skill": "Close", "language_memory": "The robot has organized the tennis ball, yellow dice, and red dice into the storage box and is currently holding the storage box lid."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by first picking up the tennis ball from the ground and placing it into the storage box. Adjust the robot posture, then pick up the yellow dice, aim at the storage box, and place the yellow die inside. Adjust the robot posture again, pick up the red dice, aim at the storage box, and place the red die inside. Finally, pick up the storage box lid and close the storage box."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 28, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000028.mp4", "length": 1881, "action_config": [{"action_text": "place the red die into the storage box", "start_frame": 0, "end_frame": 355, "skill": "Place", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the tennis ball on the ground and place it into the storage box", "start_frame": 355, "end_frame": 607, "skill": "PickAndPlace", "language_memory": "The red die has been placed into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 607, "end_frame": 700, "skill": "AdjustPosture", "language_memory": "The robot has placed the red die and the tennis ball into the storage box."}, {"action_text": "pick up the brown dice", "start_frame": 700, "end_frame": 986, "skill": "Pick", "language_memory": "The robot has placed the red die and the tennis ball into the storage box and adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 986, "end_frame": 1084, "skill": "Aim", "language_memory": "The robot has placed the red die and tennis ball into the storage box, adjusted its posture, and picked up the brown dice."}, {"action_text": "place the brown die into the storage box", "start_frame": 1084, "end_frame": 1243, "skill": "Place", "language_memory": "The robot has placed the red die and tennis ball into the storage box, adjusted its posture, picked up the brown dice, and is currently aiming at the storage box."}, {"action_text": "close the storage box", "start_frame": 1243, "end_frame": 1693, "skill": "Close", "language_memory": "The robot has placed the red die, tennis ball, and brown die into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by first placing the red die into the storage box, then picking up the tennis ball from the ground and placing it inside. Next, adjust the robot posture, pick up the brown die, aim at the storage box, and place the brown die inside. Finally, close the storage box to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 29, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000029.mp4", "length": 1924, "action_config": [{"action_text": "place the red die into the storage box", "start_frame": 0, "end_frame": 350, "skill": "Place", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "place the yellow die into the storage box", "start_frame": 350, "end_frame": 750, "skill": "Place", "language_memory": "The red die has been placed into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 750, "end_frame": 838, "skill": "AdjustPosture", "language_memory": "The red and yellow dice have been placed into the storage box."}, {"action_text": "pick up the tennis ball on the table", "start_frame": 838, "end_frame": 1043, "skill": "Pick", "language_memory": "The robot has placed the red and yellow dice into the storage box and adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 1043, "end_frame": 1128, "skill": "Aim", "language_memory": "The robot has placed the red and yellow dice into the storage box, adjusted its posture, and picked up the tennis ball from the table."}, {"action_text": "place the tennis ball into the storage box", "start_frame": 1128, "end_frame": 1246, "skill": "Place", "language_memory": "The robot has placed the red and yellow dice into the storage box, adjusted its posture, picked up the tennis ball, and is currently aiming at the storage box."}, {"action_text": "pick up the lid of the storage box", "start_frame": 1246, "end_frame": 1414, "skill": "Pick", "language_memory": "The robot has placed the red die, yellow die, and tennis ball into the storage box and adjusted its posture."}, {"action_text": "close the storage box with the lid", "start_frame": 1414, "end_frame": 1744, "skill": "Close", "language_memory": "The robot has placed the red die, yellow die, and tennis ball into the storage box and picked up the storage box lid."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by first placing the red die and the yellow die into the storage box, followed by picking up the tennis ball from the table and placing it into the same box. Before closing the box, adjust the robot's posture and aim at the storage box. Finally, pick up the lid of the storage box and close it securely."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 30, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000030.mp4", "length": 2831, "action_config": [{"action_text": "pick up the tennis ball on the right side of the floor", "start_frame": 0, "end_frame": 221, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "aim at the storage box", "start_frame": 221, "end_frame": 354, "skill": "Aim", "language_memory": "The robot has picked up the tennis ball from the right side of the floor."}, {"action_text": "place the tennis ball into the storage box", "start_frame": 354, "end_frame": 497, "skill": "Place", "language_memory": "The robot has picked up the tennis ball from the floor and is currently aiming at the storage box."}, {"action_text": "pick up the tennis ball", "start_frame": 497, "end_frame": 817, "skill": "Pick", "language_memory": "The robot has picked up the tennis ball from the floor and placed it into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 817, "end_frame": 943, "skill": "Aim", "language_memory": "The robot has placed a tennis ball into the storage box and is currently holding another tennis ball."}, {"action_text": "place the tennis ball into the storage box", "start_frame": 943, "end_frame": 1141, "skill": "Place", "language_memory": "The robot has successfully placed a tennis ball into the storage box and is currently aiming at the storage box with another tennis ball in hand."}, {"action_text": "adjust the robot posture", "start_frame": 1141, "end_frame": 1237, "skill": "AdjustPosture", "language_memory": "The robot has placed two tennis balls into the storage box."}, {"action_text": "pick up the red dice", "start_frame": 1237, "end_frame": 1451, "skill": "Pick", "language_memory": "The robot has organized two tennis balls by picking them up from the floor and placing them into the storage box, followed by an adjustment of its posture."}, {"action_text": "aim at the storage box", "start_frame": 1451, "end_frame": 1565, "skill": "Aim", "language_memory": "The robot has organized the tennis balls by placing them into the storage box and is currently holding the red dice."}, {"action_text": "place the red die into the storage box", "start_frame": 1565, "end_frame": 1734, "skill": "Place", "language_memory": "The robot has organized two tennis balls and one red dice into the storage box."}, {"action_text": "close the storage box with the lid", "start_frame": 1734, "end_frame": 2743, "skill": "Close", "language_memory": "The robot has organized toys by placing two tennis balls and one red die into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by first picking up the tennis ball located on the right side of the floor and placing it into the storage box. Then, pick up the second tennis ball and place it into the same storage box. After adjusting the robot's posture, pick up the red dice and place it into the storage box. Finally, close the storage box with its lid."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 31, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000031.mp4", "length": 2872, "action_config": [{"action_text": "pick up the tennis ball in front and place it into the storage box", "start_frame": 0, "end_frame": 243, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the tennis ball on the ground and place it into the storage box", "start_frame": 243, "end_frame": 403, "skill": "PickAndPlace", "language_memory": "The tennis ball has been placed into the storage box."}, {"action_text": "pick up the yellow dice and place it into the storage box", "start_frame": 403, "end_frame": 658, "skill": "PickAndPlace", "language_memory": "The robot has placed two tennis balls into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 658, "end_frame": 725, "skill": "AdjustPosture", "language_memory": "The robot has placed three toys, including two tennis balls and a yellow dice, into the storage box."}, {"action_text": "pick up the red dice", "start_frame": 725, "end_frame": 878, "skill": "Pick", "language_memory": "The robot has placed two tennis balls and one yellow dice into the storage box and adjusted its posture."}, {"action_text": "pick up the red dice", "start_frame": 878, "end_frame": 930, "skill": "Pick", "language_memory": "The robot has placed two tennis balls and one yellow dice into the storage box, adjusted its posture, and picked up a red dice."}, {"action_text": "aim at the storage box", "start_frame": 930, "end_frame": 1054, "skill": "Aim", "language_memory": "The robot has placed two tennis balls and one yellow dice into the storage box, adjusted its posture, and picked up the red dice."}, {"action_text": "pick up the red dice and place it into the storage box", "start_frame": 1054, "end_frame": 1225, "skill": "PickAndPlace", "language_memory": "The robot has placed two tennis balls and one yellow dice into the storage box, adjusted its posture, and picked up a red dice."}, {"action_text": "adjust the robot posture", "start_frame": 1225, "end_frame": 1289, "skill": "AdjustPosture", "language_memory": "The robot has organized multiple toys, including tennis balls and red dice, by placing them into the storage box."}, {"action_text": "pick up the green die", "start_frame": 1289, "end_frame": 1539, "skill": "Pick", "language_memory": "The robot has organized multiple tennis balls and red dice into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 1539, "end_frame": 1621, "skill": "Aim", "language_memory": "The robot has organized multiple tennis balls, red dice, and a yellow die into the storage box, while adjusting its posture and preparing to place the green die."}, {"action_text": "pick up the green dice and place it into the storage box", "start_frame": 1621, "end_frame": 1771, "skill": "PickAndPlace", "language_memory": "The robot has organized multiple tennis balls, red dice, and a green die into the storage box."}, {"action_text": "aim at the sofa", "start_frame": 1771, "end_frame": 1883, "skill": "Aim", "language_memory": "The robot has organized multiple toys, including tennis balls, red dice, and green dice, by picking them up and placing them into the storage box."}, {"action_text": "pick up the brown dice", "start_frame": 1883, "end_frame": 2044, "skill": "Pick", "language_memory": "The robot has successfully organized multiple toys, including tennis balls, red dice, and green dice, by placing them into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 2044, "end_frame": 2126, "skill": "Aim", "language_memory": "The robot has organized multiple tennis balls, red dice, and green dice into the storage box, while currently holding a brown die."}, {"action_text": "pick up the brown dice and place it into the storage box", "start_frame": 2126, "end_frame": 2257, "skill": "PickAndPlace", "language_memory": "The robot has organized multiple tennis balls, red dice, and green dice into the storage box."}, {"action_text": "close the storage box", "start_frame": 2257, "end_frame": 2694, "skill": "Close", "language_memory": "The robot has organized multiple toys, including tennis balls and various colored dice, by picking them up and placing them into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the scattered toys by placing all dice and balls into the storage box. Begin by picking up the tennis ball in front and the one on the ground, placing each into the box. Next, pick up the yellow dice and place it inside. Adjust your posture, then pick up the red dice, aim at the box, and place it inside. Repeat the posture adjustment, pick up the green die, aim at the box, and place it inside. Finally, aim at the sofa, pick up the brown dice, aim at the box, and place it inside. Once all items are stored, close the storage box."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 32, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000032.mp4", "length": 2567, "action_config": [{"action_text": "pick up the yellow dice", "start_frame": 0, "end_frame": 254, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "place the yellow die into the storage box", "start_frame": 254, "end_frame": 598, "skill": "Place", "language_memory": "The robot has picked up the yellow dice."}, {"action_text": "pick up the red dice and place it into the storage box", "start_frame": 598, "end_frame": 1265, "skill": "PickAndPlace", "language_memory": "The robot has picked up the yellow dice and placed it into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 1265, "end_frame": 1355, "skill": "AdjustPosture", "language_memory": "The robot has placed the yellow and red dice into the storage box."}, {"action_text": "pick up the brown dice", "start_frame": 1355, "end_frame": 1579, "skill": "Pick", "language_memory": "The robot has organized the yellow and red dice into the storage box and adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 1579, "end_frame": 1693, "skill": "Aim", "language_memory": "The robot has organized the yellow, red, and brown dice into the storage box and adjusted its posture."}, {"action_text": "place the brown die into the storage box", "start_frame": 1693, "end_frame": 1839, "skill": "Place", "language_memory": "The robot has organized the yellow, red, and brown dice into the storage box and adjusted its posture."}, {"action_text": "close the storage box with the lid", "start_frame": 1839, "end_frame": 2467, "skill": "Close", "language_memory": "The robot has successfully organized the yellow, red, and brown dice by placing them into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by first picking up the yellow dice and placing it into the storage box, followed by picking up the red dice and placing it into the same box. Afterward, adjust the robot posture, pick up the brown dice, aim at the storage box, and place the brown die inside. Finally, close the storage box with the lid to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 33, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000033.mp4", "length": 3294, "action_config": [{"action_text": "pick up the tennis ball from the ground and place it into the storage box", "start_frame": 0, "end_frame": 321, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the green die and place it into the storage box", "start_frame": 321, "end_frame": 484, "skill": "PickAndPlace", "language_memory": "The tennis ball has been picked up from the ground and placed into the storage box."}, {"action_text": "pick up the yellow dice and place it into the storage box", "start_frame": 484, "end_frame": 733, "skill": "PickAndPlace", "language_memory": "The robot has placed the tennis ball and the green die into the storage box."}, {"action_text": "pick up the brown dice and place it into the storage box", "start_frame": 733, "end_frame": 1135, "skill": "PickAndPlace", "language_memory": "The robot has placed the tennis ball, green die, and yellow dice into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 1135, "end_frame": 1217, "skill": "AdjustPosture", "language_memory": "The robot has placed the tennis ball and all four dice into the storage box."}, {"action_text": "pick up the red dice", "start_frame": 1217, "end_frame": 1397, "skill": "Pick", "language_memory": "The robot has placed the tennis ball and multiple dice into the storage box and adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 1397, "end_frame": 1487, "skill": "Aim", "language_memory": "The robot has placed the tennis ball and all four dice into the storage box, adjusted its posture, and is currently holding the red die."}, {"action_text": "place the red die into the storage box", "start_frame": 1487, "end_frame": 1615, "skill": "Place", "language_memory": "The robot has placed the tennis ball and four dice into the storage box, adjusted its posture, and is currently aiming at the storage box with the red die."}, {"action_text": "adjust the robot posture", "start_frame": 1615, "end_frame": 1692, "skill": "AdjustPosture", "language_memory": "The robot has organized multiple toys, including a tennis ball and several dice of various colors, by picking them up and placing them into the storage box."}, {"action_text": "pick up the tennis ball on the table", "start_frame": 1692, "end_frame": 1885, "skill": "Pick", "language_memory": "The robot has organized multiple toys, including a tennis ball and several dice of various colors, by picking them up and placing them into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 1885, "end_frame": 2031, "skill": "Aim", "language_memory": "The robot has organized multiple dice and a tennis ball into the storage box, adjusted its posture, and is currently holding a tennis ball from the table."}, {"action_text": "place the tennis ball into the storage box", "start_frame": 2031, "end_frame": 2232, "skill": "Place", "language_memory": "The robot has organized multiple dice and tennis balls into the storage box and is currently aiming to place a tennis ball from the table into the storage box."}, {"action_text": "close the storage box with the lid", "start_frame": 2232, "end_frame": 2905, "skill": "Close", "language_memory": "The robot has organized multiple toys, including several dice and tennis balls, by picking them up from the ground and table and placing them into the storage box."}, {"action_text": "close the storage box", "start_frame": 2905, "end_frame": 3106, "skill": "Close", "language_memory": "The robot organized toys by placing multiple dice and tennis balls into the storage box and closing the lid."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the scattered toys by first picking up the tennis ball from the ground, followed by the green, yellow, and brown dice, placing each into the storage box. Adjust the robot posture, then pick up the red die, aim at the box, and place it inside. Next, adjust the posture again to pick up the tennis ball from the table, aim at the storage box, and place it inside. Finally, close the storage box with its lid and secure it."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 34, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000034.mp4", "length": 2718, "action_config": [{"action_text": "pick up the green dice and place it into the storage box", "start_frame": 0, "end_frame": 279, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the tennis ball and place it into the storage box", "start_frame": 279, "end_frame": 604, "skill": "PickAndPlace", "language_memory": "The green dice has been placed into the storage box."}, {"action_text": "pick up the yellow dice and place it into the storage box", "start_frame": 604, "end_frame": 877, "skill": "PickAndPlace", "language_memory": "The robot has placed the green dice and tennis ball into the storage box."}, {"action_text": "pick up the red dice and place it into the storage box", "start_frame": 877, "end_frame": 1124, "skill": "PickAndPlace", "language_memory": "The robot has placed the green dice, tennis ball, and yellow dice into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 1124, "end_frame": 1223, "skill": "AdjustPosture", "language_memory": "The robot has placed the green dice, tennis ball, yellow dice, and red dice into the storage box."}, {"action_text": "pick up the tennis ball", "start_frame": 1223, "end_frame": 1372, "skill": "Pick", "language_memory": "The robot has placed the green, yellow, red dice and a tennis ball into the storage box and adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 1372, "end_frame": 1495, "skill": "Aim", "language_memory": "The robot has placed the green, yellow, and red dice and one tennis ball into the storage box, adjusted its posture, and is currently holding a second tennis ball."}, {"action_text": "place the tennis ball into the storage box", "start_frame": 1495, "end_frame": 1644, "skill": "Place", "language_memory": "The robot has placed the green, yellow, and red dice and one tennis ball into the storage box, adjusted its posture, and is currently aiming at the storage box with another tennis ball."}, {"action_text": "adjust the robot posture", "start_frame": 1644, "end_frame": 1761, "skill": "AdjustPosture", "language_memory": "The robot has organized multiple toys, including green, yellow, and red dice, and successfully placed all tennis balls into the storage box."}, {"action_text": "pick up the brown dice", "start_frame": 1761, "end_frame": 1962, "skill": "Pick", "language_memory": "The robot has organized multiple toys, including green, yellow, and red dice, and a tennis ball, by placing them into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 1962, "end_frame": 2072, "skill": "Aim", "language_memory": "The robot has organized multiple toys, including green, yellow, red, and brown dice along with a tennis ball, by placing them into the storage box."}, {"action_text": "place the brown die into the storage box", "start_frame": 2072, "end_frame": 2234, "skill": "Place", "language_memory": "The robot has successfully organized multiple toys, including green, yellow, red, and brown dice, as well as a tennis ball, by placing them into the storage box."}, {"action_text": "close the storage box", "start_frame": 2234, "end_frame": 2524, "skill": "Close", "language_memory": "The robot has successfully organized multiple toys, including green, yellow, red, and brown dice along with a tennis ball, by placing them into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the scattered toys by picking up the green, yellow, red, and brown dice one by one and placing each into the storage box. After arranging the dice, pick up the tennis ball, adjust the robot posture to aim at the storage box, and place the ball inside. Once all items are stored, close the storage box to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 35, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000035.mp4", "length": 1635, "action_config": [{"action_text": "pick up the red dice and place it into the storage box", "start_frame": 0, "end_frame": 457, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "adjust the robot posture", "start_frame": 457, "end_frame": 536, "skill": "AdjustPosture", "language_memory": "The red dice has been placed into the storage box."}, {"action_text": "pick up the brown dice", "start_frame": 536, "end_frame": 706, "skill": "Pick", "language_memory": "The robot has placed the red dice into the storage box and adjusted its posture."}, {"action_text": "retreat to the front of the storage box", "start_frame": 706, "end_frame": 749, "skill": "Retreat", "language_memory": "The robot has placed the red dice into the storage box and adjusted its posture, while currently holding the brown dice."}, {"action_text": "place the brown die into the storage box", "start_frame": 749, "end_frame": 897, "skill": "Place", "language_memory": "The robot has placed the red dice into the storage box, adjusted its posture, picked up the brown dice, and retreated to the front of the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 897, "end_frame": 991, "skill": "AdjustPosture", "language_memory": "The robot has placed the red and brown dice into the storage box."}, {"action_text": "pick up the yellow dice", "start_frame": 991, "end_frame": 1208, "skill": "Pick", "language_memory": "The robot has placed the red and brown dice into the storage box and adjusted its posture."}, {"action_text": "aim at the front of the storage box", "start_frame": 1208, "end_frame": 1344, "skill": "Aim", "language_memory": "The robot has placed the red and brown dice into the storage box and is currently holding the yellow dice."}, {"action_text": "place the yellow die into the storage box", "start_frame": 1344, "end_frame": 1457, "skill": "Place", "language_memory": "The robot has placed the red, brown, and yellow dice into the storage box and adjusted its posture accordingly."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the dice by first adjusting the robot posture, picking up the red dice, and placing it into the storage box. Next, adjust the robot posture again, pick up the brown dice, retreat to the front of the storage box, and place the brown die inside. Finally, adjust the robot posture, aim at the front of the storage box, pick up the yellow dice, and place the yellow die into the storage box to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 36, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000036.mp4", "length": 1885, "action_config": [{"action_text": "pick up the red dice and place it into the storage box", "start_frame": 0, "end_frame": 265, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the tennis ball on the storage box lid and place it into the storage box", "start_frame": 265, "end_frame": 667, "skill": "PickAndPlace", "language_memory": "The red dice has been placed into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 667, "end_frame": 750, "skill": "AdjustPosture", "language_memory": "The robot has placed the red dice and the tennis ball into the storage box."}, {"action_text": "pick up the yellow dice", "start_frame": 750, "end_frame": 958, "skill": "Pick", "language_memory": "The robot has placed the red dice and tennis ball into the storage box and adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 958, "end_frame": 1044, "skill": "Aim", "language_memory": "The robot has placed the red dice and tennis ball into the storage box, adjusted its posture, and picked up the yellow dice."}, {"action_text": "place the yellow die into the storage box", "start_frame": 1044, "end_frame": 1189, "skill": "Place", "language_memory": "The robot has placed the red dice and tennis ball into the storage box, adjusted its posture, picked up the yellow dice, and is currently aiming at the storage box."}, {"action_text": "close the storage box with the lid", "start_frame": 1189, "end_frame": 1699, "skill": "Close", "language_memory": "The robot has organized the red dice, tennis ball, and yellow dice into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by first picking up the red dice and placing it into the storage box, followed by picking up the tennis ball from the storage box lid and placing it inside. Next, adjust the robot posture, pick up the yellow dice, aim at the storage box, and place the yellow die into the storage box. Finally, close the storage box with the lid."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 37, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000037.mp4", "length": 3071, "action_config": [{"action_text": "pick up the green die and place it into the storage box", "start_frame": 0, "end_frame": 303, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the tennis ball from the ground and place it into the storage box", "start_frame": 303, "end_frame": 615, "skill": "PickAndPlace", "language_memory": "The green die has been placed into the storage box."}, {"action_text": "pick up the brown dice and place it into the storage box", "start_frame": 615, "end_frame": 947, "skill": "PickAndPlace", "language_memory": "The robot has placed the green die and the tennis ball into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 947, "end_frame": 1027, "skill": "AdjustPosture", "language_memory": "The robot has placed the green die, tennis ball, and brown dice into the storage box."}, {"action_text": "pick up the tennis ball on the table", "start_frame": 1027, "end_frame": 1262, "skill": "Pick", "language_memory": "The robot has placed the green die, tennis ball, and brown dice into the storage box and adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 1262, "end_frame": 1386, "skill": "Aim", "language_memory": "The robot has placed the green die, brown dice, and tennis ball from the ground into the storage box, adjusted its posture, and picked up the tennis ball from the table."}, {"action_text": "place the tennis ball into the storage box", "start_frame": 1386, "end_frame": 1530, "skill": "Place", "language_memory": "The robot has placed the green die, brown dice, and tennis ball into the storage box, adjusted its posture, and is currently aiming at the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 1530, "end_frame": 1614, "skill": "AdjustPosture", "language_memory": "The robot has organized multiple toys, including green and brown dice and tennis balls, by placing them into the storage box."}, {"action_text": "pick up the yellow dice", "start_frame": 1614, "end_frame": 1822, "skill": "Pick", "language_memory": "The robot has organized multiple toys, including green and brown dice and tennis balls, by placing them into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 1822, "end_frame": 1894, "skill": "Aim", "language_memory": "The robot has organized the green die, brown dice, and tennis balls into the storage box and is currently holding the yellow dice."}, {"action_text": "place the yellow die into the storage box", "start_frame": 1894, "end_frame": 2029, "skill": "Place", "language_memory": "The robot has organized the green die, brown dice, and tennis balls into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 2029, "end_frame": 2097, "skill": "AdjustPosture", "language_memory": "The robot has organized multiple toys, including green and brown dice, a tennis ball, and a yellow die, by placing them into the storage box."}, {"action_text": "pick up the red dice", "start_frame": 2097, "end_frame": 2301, "skill": "Pick", "language_memory": "The robot has organized multiple toys, including green and brown dice, a tennis ball, and a yellow die, by placing them into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 2301, "end_frame": 2377, "skill": "Aim", "language_memory": "The robot has organized the green die, brown dice, yellow die, and tennis balls into the storage box and is currently holding the red dice."}, {"action_text": "place the red die into the storage box", "start_frame": 2377, "end_frame": 2501, "skill": "Place", "language_memory": "The robot has successfully organized multiple toys, including green, brown, yellow, and red dice, as well as tennis balls, by placing them into the storage box."}, {"action_text": "close the storage box with the lid", "start_frame": 2501, "end_frame": 2892, "skill": "Close", "language_memory": "The robot has successfully organized multiple toys, including green, brown, yellow, and red dice along with tennis balls, by placing them into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the scattered toys by placing the green die, a brown die, a yellow die, and a red die into the storage box, followed by a tennis ball found on the ground and another tennis ball located on the table. Adjust the robot posture as needed between picking up items and aiming at the storage box to ensure accurate placement of each object. Once all items, including the two tennis balls and the four dice, have been successfully placed inside, close the storage box with its lid to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 38, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000038.mp4", "length": 3210, "action_config": [{"action_text": "pick up the tennis ball on the ground and place it into the storage box", "start_frame": 0, "end_frame": 685, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "adjust the robot posture", "start_frame": 685, "end_frame": 753, "skill": "AdjustPosture", "language_memory": "The tennis ball has been picked up from the ground and placed into the storage box."}, {"action_text": "pick up the red dice", "start_frame": 753, "end_frame": 988, "skill": "Pick", "language_memory": "The robot has placed the tennis ball into the storage box and adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 988, "end_frame": 1120, "skill": "Aim", "language_memory": "The robot has placed the tennis ball into the storage box and picked up the red dice."}, {"action_text": "place the red die into the storage box", "start_frame": 1120, "end_frame": 1298, "skill": "Place", "language_memory": "The robot has placed the tennis ball into the storage box and picked up the red dice."}, {"action_text": "aim at the sofa", "start_frame": 1298, "end_frame": 1469, "skill": "Aim", "language_memory": "The robot has organized the tennis ball and red dice into the storage box."}, {"action_text": "pick up the brown dice", "start_frame": 1469, "end_frame": 1626, "skill": "Pick", "language_memory": "The robot has organized the tennis ball and red dice into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 1626, "end_frame": 1779, "skill": "Aim", "language_memory": "The robot has organized the tennis ball and red dice into the storage box and is currently holding the brown dice."}, {"action_text": "place the brown die into the storage box", "start_frame": 1779, "end_frame": 1993, "skill": "Place", "language_memory": "The robot has organized the tennis ball and red dice into the storage box and is currently aiming at the storage box after picking up the brown dice."}, {"action_text": "close the storage box with the lid", "start_frame": 1993, "end_frame": 3098, "skill": "Close", "language_memory": "The robot has organized the tennis ball, red dice, and brown dice into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by first picking up the tennis ball from the ground and placing it into the storage box. Adjust the robot posture, then pick up the red dice, aim at the storage box, and place the red die inside. Next, aim at the sofa, pick up the brown dice, aim at the storage box, and place the brown die inside. Finally, close the storage box with the lid."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 39, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000039.mp4", "length": 1967, "action_config": [{"action_text": "pick up the brown dice and place it into the storage box", "start_frame": 0, "end_frame": 263, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "adjust the robot posture", "start_frame": 263, "end_frame": 338, "skill": "AdjustPosture", "language_memory": "The brown dice has been placed into the storage box."}, {"action_text": "pick up the yellow dice", "start_frame": 338, "end_frame": 509, "skill": "Pick", "language_memory": "The brown dice has been placed into the storage box and the robot has adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 509, "end_frame": 578, "skill": "Aim", "language_memory": "The robot has placed the brown dice into the storage box and adjusted its posture, while currently holding the yellow dice."}, {"action_text": "place the yellow die into the storage box", "start_frame": 578, "end_frame": 739, "skill": "Place", "language_memory": "The robot has placed the brown dice into the storage box and adjusted its posture while holding the yellow dice, aiming at the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 739, "end_frame": 834, "skill": "AdjustPosture", "language_memory": "The robot has placed the brown and yellow dice into the storage box."}, {"action_text": "pick up the red die", "start_frame": 834, "end_frame": 1087, "skill": "Pick", "language_memory": "The robot has placed the brown and yellow dice into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 1087, "end_frame": 1218, "skill": "Aim", "language_memory": "The robot has placed the brown and yellow dice into the storage box and is currently holding the red die."}, {"action_text": "place the red die into the storage box", "start_frame": 1218, "end_frame": 1366, "skill": "Place", "language_memory": "The robot has placed the brown and yellow dice into the storage box and is currently aiming to place the red die."}, {"action_text": "close the storage box with the lid", "start_frame": 1366, "end_frame": 1778, "skill": "Close", "language_memory": "The robot has successfully placed the brown, yellow, and red dice into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by first adjusting the robot posture, then picking up the brown dice, aiming at the storage box, and placing it inside. Adjust the robot posture again, pick up the yellow dice, aim at the storage box, and place it inside. Perform one final posture adjustment, pick up the red dice, aim at the storage box, and place it inside. Finally, close the storage box with the lid to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 40, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000040.mp4", "length": 2165, "action_config": [{"action_text": "pick up the brown dice and place it into the storage box", "start_frame": 0, "end_frame": 404, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "adjust the robot posture", "start_frame": 404, "end_frame": 510, "skill": "AdjustPosture", "language_memory": "The brown dice has been placed into the storage box."}, {"action_text": "pick up the red dice", "start_frame": 510, "end_frame": 695, "skill": "Pick", "language_memory": "The brown dice has been placed into the storage box and the robot has adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 695, "end_frame": 782, "skill": "Aim", "language_memory": "The robot has placed the brown dice into the storage box and adjusted its posture, while currently holding the red dice."}, {"action_text": "place the red die into the storage box", "start_frame": 782, "end_frame": 964, "skill": "Place", "language_memory": "The robot has placed the brown dice into the storage box and adjusted its posture while holding the red dice."}, {"action_text": "adjust the robot posture", "start_frame": 964, "end_frame": 1051, "skill": "AdjustPosture", "language_memory": "The robot has placed the brown and red dice into the storage box."}, {"action_text": "pick up the tennis ball on the table", "start_frame": 1051, "end_frame": 1238, "skill": "Pick", "language_memory": "The robot has placed the brown and red dice into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 1238, "end_frame": 1329, "skill": "Aim", "language_memory": "The robot has placed the brown and red dice into the storage box and is currently holding the tennis ball."}, {"action_text": "place the tennis ball into the storage box", "start_frame": 1329, "end_frame": 1474, "skill": "Place", "language_memory": "The robot has organized the brown dice, red dice, and tennis ball into the storage box."}, {"action_text": "close the storage box with the lid", "start_frame": 1474, "end_frame": 1998, "skill": "Close", "language_memory": "The robot has organized the brown dice, red dice, and tennis ball into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by first picking up the brown dice and placing it into the storage box, then adjusting the robot posture to pick up the red dice and placing it into the storage box. Next, adjust the robot posture again to pick up the tennis ball from the table and place it into the storage box. Finally, close the storage box with the lid."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 41, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000041.mp4", "length": 1752, "action_config": [{"action_text": "pick up the red dice and place it into the storage box", "start_frame": 0, "end_frame": 432, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "adjust the robot posture", "start_frame": 432, "end_frame": 517, "skill": "AdjustPosture", "language_memory": "The red dice has been placed into the storage box."}, {"action_text": "pick up the tennis ball on the table", "start_frame": 517, "end_frame": 747, "skill": "Pick", "language_memory": "The robot has placed the red dice into the storage box and adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 747, "end_frame": 823, "skill": "Aim", "language_memory": "The robot has placed the red dice into the storage box and picked up the tennis ball from the table."}, {"action_text": "place the tennis ball into the storage box", "start_frame": 823, "end_frame": 997, "skill": "Place", "language_memory": "The robot has placed the red dice into the storage box and picked up the tennis ball from the table."}, {"action_text": "adjust the robot posture", "start_frame": 997, "end_frame": 1068, "skill": "AdjustPosture", "language_memory": "The robot has placed the red dice and the tennis ball into the storage box."}, {"action_text": "pick up the brown dice", "start_frame": 1068, "end_frame": 1247, "skill": "Pick", "language_memory": "The robot has placed the red dice and tennis ball into the storage box."}, {"action_text": "pick up the brown dice", "start_frame": 1247, "end_frame": 1360, "skill": "Pick", "language_memory": "The robot has placed the red dice and tennis ball into the storage box and is currently holding the brown dice."}, {"action_text": "aim at the storage box", "start_frame": 1360, "end_frame": 1463, "skill": "Aim", "language_memory": "The robot has organized the red dice, tennis ball, and brown dice into the storage box."}, {"action_text": "place the brown dice into the storage box", "start_frame": 1463, "end_frame": 1601, "skill": "Place", "language_memory": "The robot has organized the red dice, tennis ball, and brown dice into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by first picking up the red dice and placing it into the storage box. Next, adjust the robot posture, pick up the tennis ball from the table, aim at the storage box, and place the tennis ball inside. Then, adjust the robot posture again, pick up the brown dice, aim at the storage box, and place the brown dice into the storage box."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 42, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000042.mp4", "length": 2236, "action_config": [{"action_text": "pick up the brown dice and place it into the storage box", "start_frame": 0, "end_frame": 422, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the tennis ball from the ground and place it into the storage box", "start_frame": 422, "end_frame": 725, "skill": "PickAndPlace", "language_memory": "The brown dice has been placed into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 725, "end_frame": 782, "skill": "AdjustPosture", "language_memory": "The robot has placed the brown dice and the tennis ball into the storage box."}, {"action_text": "pick up the red dice", "start_frame": 782, "end_frame": 993, "skill": "Pick", "language_memory": "The robot has placed the brown dice and tennis ball into the storage box and adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 993, "end_frame": 1122, "skill": "Aim", "language_memory": "The robot has placed the brown dice and tennis ball into the storage box, adjusted its posture, and picked up the red dice."}, {"action_text": "place the red dice into the storage box", "start_frame": 1122, "end_frame": 1253, "skill": "Place", "language_memory": "The robot has placed the brown dice and tennis ball into the storage box, adjusted its posture, picked up the red dice, and is currently aiming at the storage box."}, {"action_text": "pick up the storage box lid", "start_frame": 1253, "end_frame": 1521, "skill": "Pick", "language_memory": "The robot has organized the brown dice, tennis ball, and red dice into the storage box."}, {"action_text": "close the storage box", "start_frame": 1521, "end_frame": 2021, "skill": "Close", "language_memory": "The robot has organized the brown dice, tennis ball, and red dice into the storage box and is currently holding the storage box lid."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by first picking up the brown dice and placing it into the storage box, followed by retrieving the tennis ball from the ground and placing it inside. After adjusting the robot's posture, pick up the red dice, aim at the storage box, and place the red dice inside. Finally, pick up the storage box lid and close the box to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 43, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000043.mp4", "length": 3220, "action_config": [{"action_text": "pick up the red dice", "start_frame": 0, "end_frame": 564, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "place the red die into the storage box", "start_frame": 564, "end_frame": 1083, "skill": "Place", "language_memory": "The robot has picked up the red dice."}, {"action_text": "pick up the yellow die and place it into the storage box", "start_frame": 1083, "end_frame": 1747, "skill": "PickAndPlace", "language_memory": "The red dice has been picked up and placed into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 1747, "end_frame": 1836, "skill": "AdjustPosture", "language_memory": "The robot has placed the red and yellow dice into the storage box."}, {"action_text": "pick up the tennis ball on the table", "start_frame": 1836, "end_frame": 2074, "skill": "Pick", "language_memory": "The robot has organized the red and yellow dice into the storage box and adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 2074, "end_frame": 2159, "skill": "Aim", "language_memory": "The robot has organized the red dice, yellow die, and tennis ball into the storage box."}, {"action_text": "place the tennis ball into the storage box", "start_frame": 2159, "end_frame": 2307, "skill": "Place", "language_memory": "The robot has organized the red dice, yellow die, and tennis ball into the storage box and adjusted its posture."}, {"action_text": "close the storage box with the lid", "start_frame": 2307, "end_frame": 3068, "skill": "Close", "language_memory": "The robot has organized the red dice, yellow die, and tennis ball by placing them into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by first picking up the red dice and placing it into the storage box, followed by picking up the yellow die and placing it into the same box. After adjusting the robot posture, pick up the tennis ball from the table, aim at the storage box, and place the tennis ball inside. Finally, close the storage box with the lid to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 44, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000044.mp4", "length": 1749, "action_config": [{"action_text": "pick up the blue dice and place it into the storage box", "start_frame": 0, "end_frame": 431, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the tennis ball on the ground and place it into the storage box", "start_frame": 431, "end_frame": 612, "skill": "PickAndPlace", "language_memory": "The blue dice has been placed into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 612, "end_frame": 707, "skill": "AdjustPosture", "language_memory": "The robot has placed the blue dice and the tennis ball into the storage box."}, {"action_text": "pick up the tennis ball on the table", "start_frame": 707, "end_frame": 965, "skill": "Pick", "language_memory": "The robot has placed the blue dice and tennis ball into the storage box and adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 965, "end_frame": 1070, "skill": "Aim", "language_memory": "The robot has placed the blue dice and a tennis ball into the storage box, adjusted its posture, and picked up a tennis ball from the table."}, {"action_text": "place the tennis ball into the storage box", "start_frame": 1070, "end_frame": 1221, "skill": "Place", "language_memory": "The robot has placed the blue dice and a tennis ball into the storage box, adjusted its posture, picked up another tennis ball from the table, and is currently aiming at the storage box."}, {"action_text": "close the storage box with the lid", "start_frame": 1221, "end_frame": 1579, "skill": "Close", "language_memory": "The robot has organized toys by placing the blue dice and two tennis balls into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by first picking up the blue dice and placing it into the storage box. Next, retrieve the tennis ball from the ground and place it into the storage box. Adjust the robot posture, then pick up the remaining tennis ball from the table. Aim at the storage box and place this second tennis ball inside. Finally, close the storage box with the lid to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 45, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000045.mp4", "length": 3287, "action_config": [{"action_text": "pick up the yellow dice and place it into the storage box", "start_frame": 0, "end_frame": 415, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the tennis ball and place it into the storage box", "start_frame": 415, "end_frame": 744, "skill": "PickAndPlace", "language_memory": "The yellow dice has been placed into the storage box."}, {"action_text": "pick up the red dice and place it into the storage box", "start_frame": 744, "end_frame": 1163, "skill": "PickAndPlace", "language_memory": "The robot has placed the yellow dice and tennis ball into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 1163, "end_frame": 1253, "skill": "AdjustPosture", "language_memory": "The robot has placed the yellow dice, tennis ball, and red dice into the storage box."}, {"action_text": "pick up the tennis ball", "start_frame": 1253, "end_frame": 1480, "skill": "Pick", "language_memory": "The robot has placed the yellow dice, tennis ball, and red dice into the storage box and adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 1480, "end_frame": 1578, "skill": "Aim", "language_memory": "The robot has placed the yellow and red dice and one tennis ball into the storage box, adjusted its posture, and is currently holding a second tennis ball."}, {"action_text": "place the tennis ball into the storage box", "start_frame": 1578, "end_frame": 1706, "skill": "Place", "language_memory": "The robot has placed the yellow and red dice and one tennis ball into the storage box, adjusted its posture, and is currently aiming at the storage box with another tennis ball."}, {"action_text": "adjust the robot posture", "start_frame": 1706, "end_frame": 1812, "skill": "AdjustPosture", "language_memory": "The robot has organized multiple toys, including yellow and red dice and a tennis ball, by placing them into the storage box."}, {"action_text": "pick up the brown dice", "start_frame": 1812, "end_frame": 2052, "skill": "Pick", "language_memory": "The robot has successfully organized multiple toys, including yellow and red dice and a tennis ball, by placing them into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 2052, "end_frame": 2236, "skill": "Aim", "language_memory": "The robot has successfully organized the yellow, red, and brown dice and the tennis ball into the storage box."}, {"action_text": "place the brown dice into the storage box", "start_frame": 2236, "end_frame": 2390, "skill": "Place", "language_memory": "The robot has successfully organized the yellow, red, and brown dice and the tennis ball into the storage box."}, {"action_text": "close the storage box", "start_frame": 2390, "end_frame": 3078, "skill": "Close", "language_memory": "The robot has successfully organized multiple toys, including yellow, red, and brown dice along with tennis balls, by placing them into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by picking up the yellow dice, the tennis ball, the red dice, and the brown dice, placing each item into the storage box. During this process, adjust the robot posture as needed to reach the items and aim at the storage box before placing the tennis ball and brown dice. After all items are stored, close the storage box to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 46, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000046.mp4", "length": 2964, "action_config": [{"action_text": "pick up the green dice", "start_frame": 0, "end_frame": 471, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "place the green die into the storage box", "start_frame": 471, "end_frame": 744, "skill": "Place", "language_memory": "The robot has picked up the green dice."}, {"action_text": "pick up the brown dice and place it into the storage box", "start_frame": 744, "end_frame": 1392, "skill": "PickAndPlace", "language_memory": "The robot has picked up the green dice and placed it into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 1392, "end_frame": 1481, "skill": "AdjustPosture", "language_memory": "The robot has placed the green and brown dice into the storage box."}, {"action_text": "pick up the red die", "start_frame": 1481, "end_frame": 1699, "skill": "Pick", "language_memory": "The robot has placed the green and brown dice into the storage box and adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 1699, "end_frame": 1826, "skill": "Aim", "language_memory": "The robot has organized green, brown, and red dice into the storage box and adjusted its posture."}, {"action_text": "pick up the red dice and place it into the storage box", "start_frame": 1826, "end_frame": 1976, "skill": "PickAndPlace", "language_memory": "The robot has organized the green, brown, and red dice into the storage box and adjusted its posture, currently aiming at the box."}, {"action_text": "close the storage box", "start_frame": 1976, "end_frame": 2881, "skill": "Close", "language_memory": "The robot has successfully organized the green, brown, and red dice into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the scattered dice by first picking up the green die and placing it into the storage box, followed by the brown die. After adjusting the robot's posture, pick up the red die, aim at the storage box, and place the red die inside. Finally, close the storage box to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 47, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000047.mp4", "length": 2409, "action_config": [{"action_text": "pick up the yellow dice and place it into the storage box", "start_frame": 0, "end_frame": 555, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the brown dice and place it into the storage box", "start_frame": 555, "end_frame": 1049, "skill": "PickAndPlace", "language_memory": "The yellow dice has been placed into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 1049, "end_frame": 1171, "skill": "AdjustPosture", "language_memory": "The robot has placed the yellow and brown dice into the storage box."}, {"action_text": "pick up the red dice", "start_frame": 1171, "end_frame": 1421, "skill": "Pick", "language_memory": "The robot has placed the yellow and brown dice into the storage box and adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 1421, "end_frame": 1604, "skill": "Aim", "language_memory": "The robot has placed the yellow and brown dice into the storage box, adjusted its posture, and picked up the red dice."}, {"action_text": "place the red dice into the storage box", "start_frame": 1604, "end_frame": 1762, "skill": "Place", "language_memory": "The robot has placed the yellow and brown dice into the storage box, adjusted its posture, and picked up the red dice while aiming at the storage box."}, {"action_text": "close the storage box", "start_frame": 1762, "end_frame": 2201, "skill": "Close", "language_memory": "The robot has organized the yellow, brown, and red dice into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the dice by picking up the yellow dice and placing it into the storage box, followed by picking up the brown dice and placing it into the storage box. After adjusting the robot posture, pick up the red dice, aim at the storage box, and place the red dice inside. Finally, close the storage box to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 48, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000048.mp4", "length": 3872, "action_config": [{"action_text": "pick up the tennis ball on the right and place it into the storage box", "start_frame": 0, "end_frame": 628, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the tennis ball on the ground and place it into the storage box", "start_frame": 628, "end_frame": 1338, "skill": "PickAndPlace", "language_memory": "The tennis ball on the right has been placed into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 1338, "end_frame": 1436, "skill": "AdjustPosture", "language_memory": "The robot has placed two tennis balls into the storage box."}, {"action_text": "pick up the red dice and place it into the storage box", "start_frame": 1436, "end_frame": 2004, "skill": "PickAndPlace", "language_memory": "The robot has placed two tennis balls into the storage box and adjusted its posture."}, {"action_text": "adjust the robot posture", "start_frame": 2004, "end_frame": 2090, "skill": "AdjustPosture", "language_memory": "The robot has placed the tennis balls and the red dice into the storage box and adjusted its posture."}, {"action_text": "pick up the yellow dice and place it into the storage box", "start_frame": 2090, "end_frame": 2699, "skill": "PickAndPlace", "language_memory": "The robot has placed the tennis balls and red dice into the storage box and adjusted its posture."}, {"action_text": "aim at the storage cabinet", "start_frame": 2699, "end_frame": 2808, "skill": "Aim", "language_memory": "The robot has placed the tennis balls and dice into the storage box."}, {"action_text": "pick up the storage box lid", "start_frame": 2808, "end_frame": 3739, "skill": "Pick", "language_memory": "The robot has organized the tennis balls and dice into the storage box and is currently aiming at the storage cabinet."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the scattered toys by first picking up the tennis ball on the right and placing it into the storage box, followed by the tennis ball on the ground. Adjust the robot posture, then pick up the red dice and place it into the storage box. Adjust the robot posture again, pick up the yellow dice, and place it into the storage box. Finally, aim at the storage cabinet and pick up the storage box lid to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 49, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000049.mp4", "length": 3268, "action_config": [{"action_text": "pick up the tennis ball on the right and place it into the storage box", "start_frame": 0, "end_frame": 399, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the tennis ball on the ground and place it into the storage box", "start_frame": 399, "end_frame": 861, "skill": "PickAndPlace", "language_memory": "The tennis ball on the right has been placed into the storage box."}, {"action_text": "aim at the storage cabinet", "start_frame": 861, "end_frame": 1051, "skill": "Aim", "language_memory": "The robot has placed two tennis balls into the storage box."}, {"action_text": "pick up the red dice", "start_frame": 1051, "end_frame": 1166, "skill": "Pick", "language_memory": "The robot has placed two tennis balls into the storage box and is currently aiming at the storage cabinet."}, {"action_text": "place the dice into the storage box", "start_frame": 1166, "end_frame": 1564, "skill": "Place", "language_memory": "The robot has placed two tennis balls into the storage box and picked up a red dice while aiming at the storage cabinet."}, {"action_text": "adjust the robot posture", "start_frame": 1564, "end_frame": 1623, "skill": "AdjustPosture", "language_memory": "The robot has placed two tennis balls and a red dice into the storage box."}, {"action_text": "pick up the white dice and place it into the storage box", "start_frame": 1623, "end_frame": 2214, "skill": "PickAndPlace", "language_memory": "The robot has placed two tennis balls and a red dice into the storage box and adjusted its posture."}, {"action_text": "aim at the storage cabinet", "start_frame": 2214, "end_frame": 2297, "skill": "Aim", "language_memory": "The robot has organized toys by placing two tennis balls and two dice into the storage box."}, {"action_text": "pick up the green die and place it into the storage box", "start_frame": 2297, "end_frame": 2680, "skill": "PickAndPlace", "language_memory": "The robot has organized toys by placing tennis balls and dice into the storage box and adjusted its posture."}, {"action_text": "close the storage box", "start_frame": 2680, "end_frame": 3111, "skill": "Close", "language_memory": "The robot has organized the toys by placing the tennis balls and dice into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the scattered toys by first picking up the tennis ball on the right and placing it into the storage box, followed by the tennis ball on the ground. Next, aim at the storage cabinet, pick up the red dice, and place it into the box. Adjust the robot posture, then pick up the white dice and place it into the storage box. Aim at the storage cabinet again, pick up the green die, and place it into the box. Finally, close the storage box to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 50, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000050.mp4", "length": 3779, "action_config": [{"action_text": "pick up the tennis ball from the ground and place it into the storage box", "start_frame": 0, "end_frame": 268, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the yellow dice and place it into the storage box", "start_frame": 268, "end_frame": 572, "skill": "PickAndPlace", "language_memory": "The tennis ball has been picked up from the ground and placed into the storage box."}, {"action_text": "pick up the green dice and place it into the storage box", "start_frame": 572, "end_frame": 978, "skill": "PickAndPlace", "language_memory": "The robot has placed the tennis ball and yellow dice into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 978, "end_frame": 1066, "skill": "AdjustPosture", "language_memory": "The robot has placed the tennis ball, yellow dice, and green dice into the storage box."}, {"action_text": "pick up the tennis ball", "start_frame": 1066, "end_frame": 1315, "skill": "Pick", "language_memory": "The robot has placed the tennis ball, yellow dice, and green dice into the storage box and adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 1315, "end_frame": 1513, "skill": "Aim", "language_memory": "The robot has placed the tennis ball and both dice into the storage box, adjusted its posture, and picked up the tennis ball again."}, {"action_text": "place the tennis ball into the storage box", "start_frame": 1513, "end_frame": 1610, "skill": "Place", "language_memory": "The robot has organized the tennis ball and both dice into the storage box, adjusted its posture, and is currently aiming at the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 1610, "end_frame": 1674, "skill": "AdjustPosture", "language_memory": "The robot has organized the toys by placing the tennis ball and both dice into the storage box."}, {"action_text": "pick up the white dice", "start_frame": 1674, "end_frame": 1914, "skill": "Pick", "language_memory": "The robot has organized the toys by placing the tennis ball and both dice into the storage box."}, {"action_text": "pick up the white dice", "start_frame": 1914, "end_frame": 1970, "skill": "Pick", "language_memory": "The robot has organized the toys by placing the tennis ball and both dice into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 1970, "end_frame": 2163, "skill": "Aim", "language_memory": "The robot has organized the toys by placing the tennis ball and yellow and green dice into the storage box, and has picked up the white dice."}, {"action_text": "place the white die into the storage box", "start_frame": 2163, "end_frame": 2237, "skill": "Place", "language_memory": "The robot has organized the tennis ball and yellow and green dice into the storage box, and is currently preparing to place the white dice."}, {"action_text": "adjust the robot posture", "start_frame": 2237, "end_frame": 2325, "skill": "AdjustPosture", "language_memory": "The robot has organized multiple toys, including tennis balls and dice of various colors, by picking them up and placing them into the storage box."}, {"action_text": "pick up the red dice", "start_frame": 2325, "end_frame": 2620, "skill": "Pick", "language_memory": "The robot has organized multiple toys, including tennis balls and dice of various colors, by picking them up and placing them into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 2620, "end_frame": 2892, "skill": "Aim", "language_memory": "The robot has organized the toys by placing the tennis ball and multiple dice into the storage box."}, {"action_text": "place the red die into the storage box", "start_frame": 2892, "end_frame": 2975, "skill": "Place", "language_memory": "The robot has organized the tennis ball, yellow dice, green dice, and white dice into the storage box."}, {"action_text": "close the storage box with the lid", "start_frame": 2975, "end_frame": 3589, "skill": "Close", "language_memory": "The robot has organized multiple toys, including tennis balls and dice of various colors, by picking them up and placing them into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the scattered toys by first picking up the tennis ball from the ground and placing it into the storage box. Next, pick up the yellow dice and place it into the storage box, followed by the green dice. After adjusting the robot posture, pick up the tennis ball again, aim at the storage box, and place it inside. Adjust the robot posture once more, then pick up the white dice, aim at the storage box, and place the white die inside. Adjust the robot posture again, pick up the red dice, aim at the storage box, and place the red die inside. Finally, close the storage box with the lid to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 51, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000051.mp4", "length": 4306, "action_config": [{"action_text": "pick up the yellow dice and place it into the storage box", "start_frame": 0, "end_frame": 972, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the tennis ball", "start_frame": 972, "end_frame": 1566, "skill": "Pick", "language_memory": "The yellow dice has been placed into the storage box."}, {"action_text": "pick up the tennis ball on the ground and place it into the storage box", "start_frame": 1566, "end_frame": 2061, "skill": "PickAndPlace", "language_memory": "The robot has placed the yellow dice into the storage box and picked up the tennis ball."}, {"action_text": "aim at the storage cabinet", "start_frame": 2061, "end_frame": 2581, "skill": "Aim", "language_memory": "The robot has placed the yellow dice and the tennis ball into the storage box."}, {"action_text": "pick up the white dice and place it into the storage box", "start_frame": 2581, "end_frame": 3020, "skill": "PickAndPlace", "language_memory": "The robot has placed the yellow dice and the tennis ball into the storage box and is currently aiming at the storage cabinet."}, {"action_text": "aim at the storage cabinet", "start_frame": 3020, "end_frame": 3212, "skill": "Aim", "language_memory": "The robot has placed the yellow and white dice and the tennis ball into the storage box."}, {"action_text": "pick up the red dice and place it into the storage box", "start_frame": 3212, "end_frame": 3638, "skill": "PickAndPlace", "language_memory": "The robot has placed the yellow and white dice and the tennis ball into the storage box."}, {"action_text": "close the storage box with the lid", "start_frame": 3638, "end_frame": 4153, "skill": "Close", "language_memory": "The robot has placed the yellow, white, and red dice and the tennis ball into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by first picking up the yellow dice and placing it into the storage box. Next, locate the tennis ball on the ground, pick it up, and place it into the storage box. Then, pick up the white dice and place it into the storage box. After that, pick up the red dice and place it into the storage box. Finally, aim at the storage cabinet and close the storage box with the lid to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 52, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000052.mp4", "length": 4091, "action_config": [{"action_text": "pick up the tennis ball on the right and place it into the storage box", "start_frame": 0, "end_frame": 425, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the tennis ball on the ground and place it into the storage box", "start_frame": 425, "end_frame": 819, "skill": "PickAndPlace", "language_memory": "The tennis ball on the right has been placed into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 819, "end_frame": 934, "skill": "AdjustPosture", "language_memory": "The robot has placed two tennis balls into the storage box."}, {"action_text": "pick up the white die and place it into the storage box", "start_frame": 934, "end_frame": 1398, "skill": "PickAndPlace", "language_memory": "The robot has placed two tennis balls into the storage box and adjusted its posture."}, {"action_text": "aim at the mirror", "start_frame": 1398, "end_frame": 1538, "skill": "Aim", "language_memory": "The robot has placed the tennis balls and the white die into the storage box and adjusted its posture."}, {"action_text": "pick up the green dice", "start_frame": 1538, "end_frame": 1603, "skill": "Pick", "language_memory": "The robot has placed the tennis balls and the white die into the storage box and adjusted its posture."}, {"action_text": "pick up the green dice and place it into the storage box", "start_frame": 1603, "end_frame": 1873, "skill": "PickAndPlace", "language_memory": "The robot has placed two tennis balls and a white die into the storage box, adjusted its posture, aimed at the mirror, and picked up a green die."}, {"action_text": "adjust the robot posture", "start_frame": 1873, "end_frame": 1918, "skill": "AdjustPosture", "language_memory": "The robot has placed the tennis balls and green dice into the storage box, adjusted its posture, and aimed at the mirror."}, {"action_text": "pick up the red dice and place it into the storage box", "start_frame": 1918, "end_frame": 2437, "skill": "PickAndPlace", "language_memory": "The robot has organized multiple toys, including tennis balls and dice, by placing them into the storage box and adjusted its posture during the process."}, {"action_text": "pick up the yellow dice and place it into the storage box", "start_frame": 2437, "end_frame": 3152, "skill": "PickAndPlace", "language_memory": "The robot has organized multiple toys, including tennis balls and dice of various colors, by picking them up and placing them into the storage box, with intermittent posture adjustments."}, {"action_text": "close the storage box with the lid", "start_frame": 3152, "end_frame": 3971, "skill": "Close", "language_memory": "The robot has organized multiple toys, including tennis balls and various colored dice, by placing them into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the scattered toys by first picking up the tennis ball on the right and placing it into the storage box, followed by the tennis ball on the ground. Adjust the robot posture, then pick up the white die and place it into the storage box. Aim at the mirror, pick up the green dice, and place it into the storage box. Adjust the robot posture again, then sequentially pick up and place the red dice and the yellow dice into the storage box. Finally, close the storage box with the lid."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 53, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000053.mp4", "length": 3623, "action_config": [{"action_text": "pick up the tennis ball on the ground and place it into the storage box", "start_frame": 0, "end_frame": 403, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the red dice and place it into the storage box", "start_frame": 403, "end_frame": 783, "skill": "PickAndPlace", "language_memory": "The tennis ball has been picked up from the ground and placed into the storage box."}, {"action_text": "pick up the tennis ball on the storage box lid and place it into the storage box", "start_frame": 783, "end_frame": 1119, "skill": "PickAndPlace", "language_memory": "The robot has placed the tennis ball and red dice into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 1119, "end_frame": 1216, "skill": "AdjustPosture", "language_memory": "The robot has placed the tennis balls and red dice into the storage box."}, {"action_text": "pick up the yellow dice", "start_frame": 1216, "end_frame": 1420, "skill": "Pick", "language_memory": "The robot has placed the tennis balls and red dice into the storage box and adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 1420, "end_frame": 1610, "skill": "Aim", "language_memory": "The robot has placed the tennis balls and red dice into the storage box, adjusted its posture, and picked up the yellow dice."}, {"action_text": "place the yellow die into the storage box", "start_frame": 1610, "end_frame": 1675, "skill": "Place", "language_memory": "The robot has placed the tennis ball and red dice into the storage box, adjusted its posture, picked up the yellow dice, and is currently aiming at the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 1675, "end_frame": 1772, "skill": "AdjustPosture", "language_memory": "The robot has organized the toys by placing the tennis balls and dice into the storage box."}, {"action_text": "pick up the white die", "start_frame": 1772, "end_frame": 2011, "skill": "Pick", "language_memory": "The robot has organized the toys by placing the tennis balls and dice into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 2011, "end_frame": 2218, "skill": "Aim", "language_memory": "The robot has organized the tennis balls and red, yellow, and white dice into the storage box."}, {"action_text": "place the white die into the storage box", "start_frame": 2218, "end_frame": 2282, "skill": "Place", "language_memory": "The robot has organized the tennis ball, red dice, and yellow die into the storage box, adjusted its posture, and is currently aiming to place the white die."}, {"action_text": "adjust the robot posture", "start_frame": 2282, "end_frame": 2356, "skill": "AdjustPosture", "language_memory": "The robot has organized the toys by placing the tennis ball, red dice, yellow dice, and white dice into the storage box."}, {"action_text": "pick up the green dice", "start_frame": 2356, "end_frame": 2563, "skill": "Pick", "language_memory": "The robot has organized the toys by placing the tennis ball and all three dice into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 2563, "end_frame": 2780, "skill": "Aim", "language_memory": "The robot has organized the tennis ball, red dice, yellow dice, and white dice into the storage box and is currently holding the green dice."}, {"action_text": "place the green die into the storage box", "start_frame": 2780, "end_frame": 2858, "skill": "Place", "language_memory": "The robot has organized the tennis ball, red dice, yellow dice, and white dice into the storage box, and is currently aiming to place the green dice inside."}, {"action_text": "close the storage box with the lid", "start_frame": 2858, "end_frame": 3418, "skill": "Close", "language_memory": "The robot has organized the toys by placing the tennis ball and all four dice (red, yellow, white, and green) into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the scattered toys by first picking up the tennis ball from the ground and placing it into the storage box. Next, retrieve the red dice and place it inside the same box. Then, lift the tennis ball currently resting on the storage box lid and deposit it into the box. After adjusting the robot's posture, pick up the yellow die, aim at the storage box, and place it inside. Repeat the posture adjustment, then pick up the white die, aim at the storage box, and place it inside. Adjust the posture once more, pick up the green die, aim at the storage box, and place it inside. Finally, close the storage box with its lid to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 54, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000054.mp4", "length": 3569, "action_config": [{"action_text": "pick up the yellow dice and place it into the storage box", "start_frame": 0, "end_frame": 327, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the tennis ball on the table and place it into the storage box", "start_frame": 327, "end_frame": 623, "skill": "PickAndPlace", "language_memory": "The yellow dice has been placed into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 623, "end_frame": 697, "skill": "AdjustPosture", "language_memory": "The robot has placed the yellow dice and the tennis ball into the storage box."}, {"action_text": "pick up the tennis ball", "start_frame": 697, "end_frame": 841, "skill": "Pick", "language_memory": "The robot has placed the yellow dice and tennis ball into the storage box and adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 841, "end_frame": 1015, "skill": "Aim", "language_memory": "The robot has placed the yellow dice and tennis ball into the storage box and adjusted its posture."}, {"action_text": "place the tennis ball into the storage box", "start_frame": 1015, "end_frame": 1076, "skill": "Place", "language_memory": "The robot has placed the yellow dice and tennis ball into the storage box, adjusted its posture, and is currently aiming at the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 1076, "end_frame": 1165, "skill": "AdjustPosture", "language_memory": "The robot has placed the yellow dice and tennis balls into the storage box."}, {"action_text": "pick up the dice", "start_frame": 1165, "end_frame": 1364, "skill": "Pick", "language_memory": "The robot has placed the yellow dice and tennis balls into the storage box."}, {"action_text": "pick up the green dice", "start_frame": 1364, "end_frame": 1429, "skill": "Pick", "language_memory": "The robot has placed the yellow dice and tennis balls into the storage box and is currently holding a dice."}, {"action_text": "aim at the storage box", "start_frame": 1429, "end_frame": 1590, "skill": "Aim", "language_memory": "The robot has organized toys by placing the yellow dice and tennis balls into the storage box and is currently holding the green dice."}, {"action_text": "place the green die into the storage box", "start_frame": 1590, "end_frame": 1648, "skill": "Place", "language_memory": "The robot has organized toys by placing the yellow dice, a tennis ball, and a green dice into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 1648, "end_frame": 1730, "skill": "AdjustPosture", "language_memory": "The robot has organized multiple toys, including yellow and green dice and tennis balls, by placing them into the storage box."}, {"action_text": "pick up the white die", "start_frame": 1730, "end_frame": 1957, "skill": "Pick", "language_memory": "The robot has organized multiple toys, including yellow and green dice and a tennis ball, by placing them into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 1957, "end_frame": 2127, "skill": "Aim", "language_memory": "The robot has organized the yellow dice, tennis ball, and green dice into the storage box."}, {"action_text": "place the gray die into the storage box", "start_frame": 2127, "end_frame": 2175, "skill": "Place", "language_memory": "The robot has successfully organized the yellow dice, tennis ball, green dice, and white dice into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 2175, "end_frame": 2249, "skill": "AdjustPosture", "language_memory": "The robot has organized multiple toys, including dice and a tennis ball, by picking them up and placing them into the storage box."}, {"action_text": "pick up the red dice", "start_frame": 2249, "end_frame": 2471, "skill": "Pick", "language_memory": "The robot has organized multiple toys, including dice and a tennis ball, by picking them up and placing them into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 2471, "end_frame": 2646, "skill": "Aim", "language_memory": "The robot has organized multiple toys, including yellow, green, gray, and red dice, as well as a tennis ball, by placing them into the storage box."}, {"action_text": "place the red die into the storage box", "start_frame": 2646, "end_frame": 2729, "skill": "Place", "language_memory": "The robot has successfully organized multiple toys, including yellow, green, white, gray, and red dice, as well as a tennis ball, by placing them into the storage box."}, {"action_text": "close the storage box with the lid", "start_frame": 2729, "end_frame": 3356, "skill": "Close", "language_memory": "The robot has successfully organized multiple toys, including dice and a tennis ball, by picking them up and placing them into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the scattered toys by picking up the yellow dice, the tennis ball, the green dice, the white die, the gray die, and the red dice, placing each item into the storage box. During this process, adjust the robot posture as needed to reach the items and aim at the storage box before placing each object inside. After all items, including the tennis ball and dice, have been successfully placed into the storage box, close the storage box with its lid to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 55, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000055.mp4", "length": 4346, "action_config": [{"action_text": "pick up the green dice and place it into the storage box", "start_frame": 0, "end_frame": 367, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the red dice and place it into the storage box", "start_frame": 367, "end_frame": 865, "skill": "PickAndPlace", "language_memory": "The green dice has been placed into the storage box."}, {"action_text": "pick up the yellow dice and place it into the storage box", "start_frame": 865, "end_frame": 1656, "skill": "PickAndPlace", "language_memory": "The robot has placed the green and red dice into the storage box."}, {"action_text": "aim at the storage cabinet", "start_frame": 1656, "end_frame": 2006, "skill": "Aim", "language_memory": "The robot has placed the green, red, and yellow dice into the storage box."}, {"action_text": "pick up the white die and place it into the storage box", "start_frame": 2006, "end_frame": 2336, "skill": "PickAndPlace", "language_memory": "The robot has placed the green, red, and yellow dice into the storage box and is currently aiming at the storage cabinet."}, {"action_text": "aim at the storage cabinet", "start_frame": 2336, "end_frame": 2621, "skill": "Aim", "language_memory": "The robot has placed the green, red, yellow, and white dice into the storage box."}, {"action_text": "pick up the tennis ball on the right and place it into the storage box", "start_frame": 2621, "end_frame": 3003, "skill": "PickAndPlace", "language_memory": "The robot has successfully placed the green, red, yellow, and white dice into the storage box."}, {"action_text": "aim at the storage cabinet", "start_frame": 3003, "end_frame": 3289, "skill": "Aim", "language_memory": "The robot has placed the green, red, yellow, and white dice along with a tennis ball into the storage box."}, {"action_text": "pick up the tennis ball on the cabinet and place it into the storage box", "start_frame": 3289, "end_frame": 3659, "skill": "PickAndPlace", "language_memory": "The robot has placed the green, red, yellow, and white dice along with a tennis ball into the storage box."}, {"action_text": "close the storage box with the lid", "start_frame": 3659, "end_frame": 4255, "skill": "Close", "language_memory": "The robot has placed all dice and tennis balls into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by picking up the green, red, and yellow dice, followed by the white die, and placing each into the storage box. Aim at the storage cabinet between the white die and the first tennis ball, then aim again before picking up the tennis ball on the right and placing it in the box. Aim at the cabinet one more time, pick up the tennis ball located on the cabinet, and place it into the storage box. Finally, close the storage box with its lid."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 56, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000056.mp4", "length": 2626, "action_config": [{"action_text": "pick up the brown dice and place it into the storage box", "start_frame": 0, "end_frame": 359, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the red dice and place it into the storage box", "start_frame": 359, "end_frame": 577, "skill": "PickAndPlace", "language_memory": "The brown dice has been placed into the storage box."}, {"action_text": "pick up the green dice and place it into the storage box", "start_frame": 577, "end_frame": 704, "skill": "PickAndPlace", "language_memory": "The robot has placed the brown and red dice into the storage box."}, {"action_text": "pick up the green dice and place it into the storage box", "start_frame": 704, "end_frame": 864, "skill": "PickAndPlace", "language_memory": "The robot has placed the brown, red, and green dice into the storage box."}, {"action_text": "pick up the tennis ball and place it into the storage box", "start_frame": 864, "end_frame": 1107, "skill": "PickAndPlace", "language_memory": "The robot has placed multiple dice into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 1107, "end_frame": 1165, "skill": "AdjustPosture", "language_memory": "The robot has placed multiple dice and a tennis ball into the storage box."}, {"action_text": "pick up the tennis ball", "start_frame": 1165, "end_frame": 1325, "skill": "Pick", "language_memory": "The robot has placed multiple dice and a tennis ball into the storage box and adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 1325, "end_frame": 1428, "skill": "Aim", "language_memory": "The robot has placed multiple dice and a tennis ball into the storage box and adjusted its posture."}, {"action_text": "place the tennis ball into the storage box", "start_frame": 1428, "end_frame": 1567, "skill": "Place", "language_memory": "The robot has placed multiple dice and a tennis ball into the storage box, adjusted its posture, and is currently aiming at the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 1567, "end_frame": 1646, "skill": "AdjustPosture", "language_memory": "The robot has organized multiple dice and a tennis ball into the storage box."}, {"action_text": "pick up the yellow dice", "start_frame": 1646, "end_frame": 1796, "skill": "Pick", "language_memory": "The robot has successfully organized multiple dice and a tennis ball into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 1796, "end_frame": 1916, "skill": "Aim", "language_memory": "The robot has organized the brown, red, and green dice, as well as the tennis ball, into the storage box and is currently holding the yellow dice."}, {"action_text": "place the yellow die into the storage box", "start_frame": 1916, "end_frame": 2059, "skill": "Place", "language_memory": "The robot has successfully organized the brown, red, green, and yellow dice along with the tennis ball into the storage box."}, {"action_text": "close the storage box", "start_frame": 2059, "end_frame": 2449, "skill": "Close", "language_memory": "The robot has successfully organized multiple dice and a tennis ball into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the scattered toys by picking up the brown, red, green, and yellow dice, as well as the tennis ball, and placing each item into the storage box. Note that the green dice is handled twice before the tennis ball is picked up, aimed at the box, and placed inside. After organizing all items, close the storage box. Throughout the process, adjust the robot posture as needed to facilitate the movements."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 57, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000057.mp4", "length": 3541, "action_config": [{"action_text": "pick up the green dice and place it into the storage box", "start_frame": 0, "end_frame": 259, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the tennis ball", "start_frame": 259, "end_frame": 359, "skill": "Pick", "language_memory": "The green dice has been placed into the storage box."}, {"action_text": "pick up the tennis ball on the ground and place it into the storage box", "start_frame": 359, "end_frame": 613, "skill": "PickAndPlace", "language_memory": "The robot has placed the green dice into the storage box and is currently holding the tennis ball."}, {"action_text": "pick up the yellow dice and place it into the storage box", "start_frame": 613, "end_frame": 851, "skill": "PickAndPlace", "language_memory": "The robot has placed the green dice and the tennis ball into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 851, "end_frame": 955, "skill": "AdjustPosture", "language_memory": "The robot has placed the green and yellow dice and the tennis ball into the storage box."}, {"action_text": "pick up the tennis ball on the table", "start_frame": 955, "end_frame": 1197, "skill": "Pick", "language_memory": "The robot has placed the green and yellow dice and the tennis ball into the storage box and adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 1197, "end_frame": 1422, "skill": "Aim", "language_memory": "The robot has placed the green and yellow dice into the storage box and moved the tennis ball from the ground and table into the storage box, while adjusting its posture."}, {"action_text": "place the tennis ball into the storage box", "start_frame": 1422, "end_frame": 1513, "skill": "Place", "language_memory": "The robot has placed the green and yellow dice and two tennis balls into the storage box, adjusted its posture, and is currently aiming at the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 1513, "end_frame": 1595, "skill": "AdjustPosture", "language_memory": "The robot has organized multiple toys, including green and yellow dice and tennis balls, by picking them up from various locations and placing them into the storage box."}, {"action_text": "pick up the white dice", "start_frame": 1595, "end_frame": 1848, "skill": "Pick", "language_memory": "The robot has organized multiple toys, including green and yellow dice and tennis balls, by placing them into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 1848, "end_frame": 2029, "skill": "Aim", "language_memory": "The robot has organized the green, yellow, and white dice and all tennis balls into the storage box."}, {"action_text": "place the white die into the storage box", "start_frame": 2029, "end_frame": 2091, "skill": "Place", "language_memory": "The robot has organized the green, yellow, and white dice and all tennis balls into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 2091, "end_frame": 2183, "skill": "AdjustPosture", "language_memory": "The robot has organized multiple toys, including green, yellow, and white dice along with several tennis balls, by picking them up from various locations and placing them into the storage box."}, {"action_text": "pick up the red dice", "start_frame": 2183, "end_frame": 2422, "skill": "Pick", "language_memory": "The robot has organized multiple toys, including green, yellow, and white dice along with tennis balls, by picking them up from various locations and placing them into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 2422, "end_frame": 2634, "skill": "Aim", "language_memory": "The robot has organized multiple toys, including green, yellow, white, and red dice along with tennis balls, by picking them up and placing them into the storage box."}, {"action_text": "place the red die into the storage box", "start_frame": 2634, "end_frame": 2707, "skill": "Place", "language_memory": "The robot has successfully organized multiple toys, including green, yellow, white, and red dice along with tennis balls, by picking them up from various locations and placing them into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 2707, "end_frame": 2808, "skill": "AdjustPosture", "language_memory": "The robot has successfully organized multiple toys, including green, yellow, white, and red dice along with several tennis balls, by picking them up from various locations and placing them into the storage box."}, {"action_text": "close the storage box", "start_frame": 2808, "end_frame": 3402, "skill": "Close", "language_memory": "The robot has successfully organized all dice and tennis balls into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the scattered toys by picking up the green, yellow, white, and red dice, as well as the tennis ball found on the ground and the table, and placing each item into the storage box. Adjust the robot posture as needed to reach the items and aim at the box before placing each toy inside. Once all toys are stored, close the storage box to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 58, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000058.mp4", "length": 2777, "action_config": [{"action_text": "pick up the tennis ball and place it into the storage box", "start_frame": 0, "end_frame": 499, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the white dice and place it into the storage box", "start_frame": 499, "end_frame": 783, "skill": "PickAndPlace", "language_memory": "The tennis ball has been placed into the storage box."}, {"action_text": "pick up the yellow dice and place it into the storage box", "start_frame": 783, "end_frame": 1118, "skill": "PickAndPlace", "language_memory": "The robot has placed the tennis ball and white dice into the storage box."}, {"action_text": "pick up the red dice and place it into the storage box", "start_frame": 1118, "end_frame": 1299, "skill": "PickAndPlace", "language_memory": "The robot has placed the tennis ball, white dice, and yellow dice into the storage box."}, {"action_text": "pick up the green dice and place it into the storage box", "start_frame": 1299, "end_frame": 1641, "skill": "PickAndPlace", "language_memory": "The robot has placed the tennis ball and all four dice into the storage box."}, {"action_text": "pick up the tennis ball and place it into the storage box", "start_frame": 1641, "end_frame": 2118, "skill": "PickAndPlace", "language_memory": "The robot has placed the tennis ball and all five dice into the storage box."}, {"action_text": "close the storage box with the lid", "start_frame": 2118, "end_frame": 2668, "skill": "Close", "language_memory": "The robot has placed multiple tennis balls and dice of various colors into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by picking up the tennis ball and placing it into the storage box, followed by picking up the white, yellow, red, and green dice one by one and placing each into the same storage box. After all the dice and the second tennis ball have been placed inside, close the storage box with its lid."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 59, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000059.mp4", "length": 1714, "action_config": [{"action_text": "pick up the white die and place it into the storage box", "start_frame": 28, "end_frame": 431, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the tennis ball and place it into the storage box", "start_frame": 431, "end_frame": 655, "skill": "PickAndPlace", "language_memory": "The white die has been placed into the storage box."}, {"action_text": "pick up the tennis ball and place it into the storage box", "start_frame": 655, "end_frame": 871, "skill": "PickAndPlace", "language_memory": "The robot has placed the white die and tennis ball into the storage box."}, {"action_text": "close the storage box with the lid", "start_frame": 871, "end_frame": 1623, "skill": "Close", "language_memory": "The robot has placed a white die and two tennis balls into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by picking up the white die and placing it into the storage box, followed by picking up the tennis ball and placing it into the storage box twice. Once all items are inside, close the storage box with the lid."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 60, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000060.mp4", "length": 4152, "action_config": [{"action_text": "pick up the tennis ball on the right and place it into the storage box", "start_frame": 0, "end_frame": 388, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the tennis ball on the ground and place it into the storage box", "start_frame": 388, "end_frame": 831, "skill": "PickAndPlace", "language_memory": "The tennis ball on the right has been placed into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 831, "end_frame": 926, "skill": "AdjustPosture", "language_memory": "The robot has placed two tennis balls into the storage box."}, {"action_text": "aim at the storage cabinet", "start_frame": 926, "end_frame": 1020, "skill": "Aim", "language_memory": "The robot has placed two tennis balls into the storage box and adjusted its posture."}, {"action_text": "pick up the yellow dice and place it into the storage box", "start_frame": 1020, "end_frame": 1481, "skill": "PickAndPlace", "language_memory": "The robot has placed two tennis balls into the storage box and adjusted its posture to aim at the storage cabinet."}, {"action_text": "aim at the cabinet", "start_frame": 1481, "end_frame": 1757, "skill": "Aim", "language_memory": "The robot has placed the tennis balls and the yellow dice into the storage box."}, {"action_text": "pick up the white die and place it into the storage box", "start_frame": 1757, "end_frame": 2128, "skill": "PickAndPlace", "language_memory": "The robot has placed the tennis balls and yellow dice into the storage box and adjusted its posture to aim at the cabinet."}, {"action_text": "aim at the storage cabinet", "start_frame": 2128, "end_frame": 2407, "skill": "Aim", "language_memory": "The robot has organized toys by placing two tennis balls, a yellow die, and a white die into the storage box."}, {"action_text": "pick up the green dice and place it into the storage box", "start_frame": 2407, "end_frame": 2836, "skill": "PickAndPlace", "language_memory": "The robot has organized multiple toys, including tennis balls and dice, by placing them into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 2836, "end_frame": 2922, "skill": "AdjustPosture", "language_memory": "The robot has organized the tennis balls, yellow die, white die, and green dice into the storage box."}, {"action_text": "aim at the cabinet", "start_frame": 2922, "end_frame": 3139, "skill": "Aim", "language_memory": "The robot has organized the tennis balls, yellow die, white die, and green dice into the storage box."}, {"action_text": "pick up the dice", "start_frame": 3139, "end_frame": 3233, "skill": "Pick", "language_memory": "The robot has organized the tennis balls, yellow die, white die, and green dice into the storage box."}, {"action_text": "pick up the red dice and place it into the storage box", "start_frame": 3233, "end_frame": 3560, "skill": "PickAndPlace", "language_memory": "The robot has organized multiple toys, including tennis balls and various colored dice, by picking them up and placing them into the storage box."}, {"action_text": "close the storage box", "start_frame": 3560, "end_frame": 3953, "skill": "Close", "language_memory": "The robot has organized multiple toys, including tennis balls and various colored dice, by picking them up and placing them into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the scattered toys by first picking up the tennis ball on the right and placing it into the storage box, followed by the tennis ball on the ground. Adjust the robot posture and aim at the storage cabinet to pick up the yellow dice and place it inside. Aim at the cabinet again to retrieve the white die and put it in the box, then aim once more to pick up the green dice and store it. Adjust the robot posture, aim at the cabinet, and pick up the remaining dice before specifically retrieving the red dice and placing it into the storage box. Finally, close the storage box to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 61, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000061.mp4", "length": 4274, "action_config": [{"action_text": "pick up the tennis ball on the left and place it into the storage box", "start_frame": 0, "end_frame": 553, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the tennis ball on the ground and place it into the storage box", "start_frame": 553, "end_frame": 944, "skill": "PickAndPlace", "language_memory": "The tennis ball on the left has been placed into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 944, "end_frame": 1014, "skill": "AdjustPosture", "language_memory": "The robot has placed two tennis balls into the storage box."}, {"action_text": "pick up the white dice and place it into the storage box", "start_frame": 1014, "end_frame": 1553, "skill": "PickAndPlace", "language_memory": "The robot has placed two tennis balls into the storage box and adjusted its posture."}, {"action_text": "adjust the robot posture", "start_frame": 1553, "end_frame": 1637, "skill": "AdjustPosture", "language_memory": "The robot has placed the tennis balls and the white dice into the storage box and adjusted its posture."}, {"action_text": "pick up the red dice", "start_frame": 1637, "end_frame": 1893, "skill": "Pick", "language_memory": "The robot has placed the tennis balls and white dice into the storage box and adjusted its posture."}, {"action_text": "pick up the red dice and place it into the storage box", "start_frame": 1893, "end_frame": 2200, "skill": "PickAndPlace", "language_memory": "The robot has placed two tennis balls and one white dice into the storage box and is currently holding a red dice."}, {"action_text": "move to the storage box", "start_frame": 2200, "end_frame": 2366, "skill": "Navigate", "language_memory": "The robot has placed two tennis balls and two dice into the storage box."}, {"action_text": "pick up the green dice and place it into the storage box", "start_frame": 2366, "end_frame": 2972, "skill": "PickAndPlace", "language_memory": "The robot has organized the tennis balls and red dice into the storage box and is currently positioned at the storage box."}, {"action_text": "move to the storage cabinet", "start_frame": 2972, "end_frame": 3102, "skill": "Navigate", "language_memory": "The robot has organized the toys by placing two tennis balls and three dice into the storage box."}, {"action_text": "pick up the yellow dice and place it into the storage box", "start_frame": 3102, "end_frame": 3571, "skill": "PickAndPlace", "language_memory": "The robot has organized multiple toys, including tennis balls and dice, by picking them up and placing them into the storage box or cabinet, with intermittent posture adjustments."}, {"action_text": "close the storage box with the lid", "start_frame": 3571, "end_frame": 4087, "skill": "Close", "language_memory": "The robot has organized multiple toys, including tennis balls and various colored dice, by picking them up and placing them into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the scattered toys by first moving to the storage box to pick up the tennis ball on the left and place it inside. Next, adjust your posture, then pick up the second tennis ball from the ground and place it in the box. After adjusting your posture again, pick up the white dice and place it in the storage box. Move to the storage box to pick up the red dice and place it inside, followed by picking up the green dice and placing it in the box. Proceed to the storage cabinet to pick up the yellow dice and place it in the storage box. Finally, return to the storage box and close the lid to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 62, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000062.mp4", "length": 3253, "action_config": [{"action_text": "pick up the tennis ball on the ground and place it into the storage box", "start_frame": 0, "end_frame": 665, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the dice", "start_frame": 665, "end_frame": 959, "skill": "Pick", "language_memory": "The tennis ball has been picked up from the ground and placed into the storage box."}, {"action_text": "place the yellow die into the storage box", "start_frame": 959, "end_frame": 1172, "skill": "Place", "language_memory": "The robot has placed the tennis ball into the storage box and picked up the dice."}, {"action_text": "aim at the cabinet", "start_frame": 1172, "end_frame": 1395, "skill": "Aim", "language_memory": "The robot has placed the tennis ball and the yellow die into the storage box."}, {"action_text": "pick up the white dice and place it into the storage box", "start_frame": 1395, "end_frame": 1768, "skill": "PickAndPlace", "language_memory": "The robot has placed the tennis ball and a yellow die into the storage box and is currently aiming at the cabinet."}, {"action_text": "adjust the robot posture", "start_frame": 1768, "end_frame": 2277, "skill": "AdjustPosture", "language_memory": "The robot has placed the tennis ball and both dice into the storage box."}, {"action_text": "pick up the red dice and place it into the storage box", "start_frame": 2277, "end_frame": 2755, "skill": "PickAndPlace", "language_memory": "The robot has organized the tennis ball and both dice into the storage box and adjusted its posture."}, {"action_text": "close the storage box with the lid", "start_frame": 2755, "end_frame": 3123, "skill": "Close", "language_memory": "The robot has organized the toys by picking up the tennis ball and all dice (yellow, white, and red) and placing them into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by first picking up the tennis ball from the ground and placing it into the storage box. Next, pick up the dice, specifically placing the yellow die into the storage box. Aim at the cabinet, then adjust the robot posture to reach the white dice, which should also be placed into the storage box. Finally, pick up the red dice and place it into the storage box before closing the storage box with its lid."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 63, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000063.mp4", "length": 3709, "action_config": [{"action_text": "pick up the dice", "start_frame": 0, "end_frame": 593, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the yellow dice and place it into the storage box", "start_frame": 593, "end_frame": 835, "skill": "PickAndPlace", "language_memory": "The robot has picked up the dice."}, {"action_text": "pick up the green dice and place it into the storage box", "start_frame": 835, "end_frame": 1259, "skill": "PickAndPlace", "language_memory": "The robot has picked up the dice and placed the yellow dice into the storage box."}, {"action_text": "aim at the cabinet", "start_frame": 1259, "end_frame": 1469, "skill": "Aim", "language_memory": "The robot has picked up the dice and placed the yellow and green dice into the storage box."}, {"action_text": "pick up the tennis ball on the right and place it into the storage box", "start_frame": 1469, "end_frame": 1814, "skill": "PickAndPlace", "language_memory": "The robot has picked up the dice and placed the yellow and green dice into the storage box, and is currently aiming at the cabinet."}, {"action_text": "aim at the storage cabinet", "start_frame": 1814, "end_frame": 1991, "skill": "Aim", "language_memory": "The robot has organized the dice and a tennis ball by placing them into the storage box."}, {"action_text": "pick up the dice", "start_frame": 1991, "end_frame": 2092, "skill": "Pick", "language_memory": "The robot has organized the dice and a tennis ball into the storage box."}, {"action_text": "pick up the red dice and place it into the storage box", "start_frame": 2092, "end_frame": 2443, "skill": "PickAndPlace", "language_memory": "The robot has organized the dice and a tennis ball into the storage box."}, {"action_text": "aim at the cabinet", "start_frame": 2443, "end_frame": 2601, "skill": "Aim", "language_memory": "The robot has organized multiple dice and a tennis ball into the storage box."}, {"action_text": "pick up the tennis ball on the cabinet and place it into the storage box", "start_frame": 2601, "end_frame": 2924, "skill": "PickAndPlace", "language_memory": "The robot has organized multiple dice and a tennis ball into the storage box."}, {"action_text": "pick up the storage box lid", "start_frame": 2924, "end_frame": 3219, "skill": "Pick", "language_memory": "The robot has organized multiple dice and tennis balls into the storage box."}, {"action_text": "close the storage box with the lid", "start_frame": 3219, "end_frame": 3613, "skill": "Close", "language_memory": "The robot has organized multiple dice and tennis balls into the storage box and is currently holding the storage box lid."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by first picking up the dice, then the yellow dice, and placing each into the storage box. Aim at the cabinet to pick up the tennis ball on the right and place it into the storage box. Next, aim at the storage cabinet to pick up the remaining dice and the tennis ball located on the cabinet, placing both into the storage box. Finally, pick up the storage box lid and close the storage box."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 64, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000064.mp4", "length": 3150, "action_config": [{"action_text": "pick up the tennis ball on the dice and place it into the storage box", "start_frame": 0, "end_frame": 679, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the tennis ball on the ground and place it into the storage box", "start_frame": 679, "end_frame": 956, "skill": "PickAndPlace", "language_memory": "The tennis ball has been picked up from the dice and placed into the storage box."}, {"action_text": "pick up the white dice and place it into the storage box", "start_frame": 956, "end_frame": 1292, "skill": "PickAndPlace", "language_memory": "The robot has placed two tennis balls into the storage box."}, {"action_text": "pick up the red dice and place it into the storage box", "start_frame": 1292, "end_frame": 1491, "skill": "PickAndPlace", "language_memory": "The robot has placed the tennis balls and the white dice into the storage box."}, {"action_text": "pick up the yellow dice and place it into the storage box", "start_frame": 1491, "end_frame": 1851, "skill": "PickAndPlace", "language_memory": "The robot has placed the tennis balls and dice into the storage box."}, {"action_text": "pick up the green dice and place it into the storage box", "start_frame": 1851, "end_frame": 2200, "skill": "PickAndPlace", "language_memory": "The robot has placed the tennis balls and all dice into the storage box."}, {"action_text": "pick up the storage box lid", "start_frame": 2200, "end_frame": 2508, "skill": "Pick", "language_memory": "The robot has placed all collected tennis balls and dice into the storage box."}, {"action_text": "close the storage box with the lid", "start_frame": 2508, "end_frame": 3052, "skill": "Close", "language_memory": "The robot has placed all dice and tennis balls into the storage box and picked up the lid."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by first picking up the tennis ball from the dice and placing it into the storage box, followed by picking up the tennis ball from the ground and placing it into the storage box. Next, pick up the white, red, yellow, and green dice one by one and place each into the storage box. Finally, pick up the storage box lid and close the storage box."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 65, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000065.mp4", "length": 2209, "action_config": [{"action_text": "pick up the white die and place it into the storage box", "start_frame": 0, "end_frame": 319, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the green dice and place it into the storage box", "start_frame": 319, "end_frame": 564, "skill": "PickAndPlace", "language_memory": "The white die has been placed into the storage box."}, {"action_text": "pick up the yellow dice and place it into the storage box", "start_frame": 564, "end_frame": 831, "skill": "PickAndPlace", "language_memory": "The robot has placed the white die and green dice into the storage box."}, {"action_text": "pick up the red dice and place it into the storage box", "start_frame": 831, "end_frame": 1177, "skill": "PickAndPlace", "language_memory": "The robot has placed the white, green, and yellow dice into the storage box."}, {"action_text": "pick up the tennis ball on the right and place it into the storage box", "start_frame": 1177, "end_frame": 1413, "skill": "PickAndPlace", "language_memory": "The robot has placed the white, green, yellow, and red dice into the storage box."}, {"action_text": "pick up the tennis ball on the storage box lid and place it into the storage box", "start_frame": 1413, "end_frame": 1696, "skill": "PickAndPlace", "language_memory": "The robot has placed the white die, green dice, yellow dice, red dice, and a tennis ball into the storage box."}, {"action_text": "close the storage box with the lid", "start_frame": 1696, "end_frame": 2023, "skill": "Close", "language_memory": "The robot has placed all dice and tennis balls into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by picking up the white die, green dice, yellow dice, and red dice, placing each into the storage box in that order. Next, pick up the tennis ball located on the right and place it into the storage box, followed by the tennis ball resting on the storage box lid. Finally, close the storage box using its lid."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 66, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000066.mp4", "length": 2708, "action_config": [{"action_text": "pick up the yellow dice and place it into the storage box", "start_frame": 0, "end_frame": 224, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the green dice and place it into the storage box", "start_frame": 224, "end_frame": 428, "skill": "PickAndPlace", "language_memory": "The yellow dice has been placed into the storage box."}, {"action_text": "pick up the white die and place it into the storage box", "start_frame": 428, "end_frame": 637, "skill": "PickAndPlace", "language_memory": "The robot has placed the yellow and green dice into the storage box."}, {"action_text": "pick up the tennis ball on the storage box lid and place it into the storage box", "start_frame": 637, "end_frame": 931, "skill": "PickAndPlace", "language_memory": "The robot has placed the yellow, green, and white dice into the storage box."}, {"action_text": "aim at the desk", "start_frame": 931, "end_frame": 1079, "skill": "Aim", "language_memory": "The robot has placed the yellow dice, green dice, white die, and tennis ball into the storage box."}, {"action_text": "pick up the tennis ball on the table", "start_frame": 1079, "end_frame": 1219, "skill": "Pick", "language_memory": "The robot has placed the yellow dice, green dice, white die, and tennis ball into the storage box and is currently aiming at the desk."}, {"action_text": "aim at the storage box", "start_frame": 1219, "end_frame": 1390, "skill": "Aim", "language_memory": "The robot has placed the yellow dice, green dice, white die, and tennis ball into the storage box."}, {"action_text": "place the tennis ball into the storage box", "start_frame": 1390, "end_frame": 1446, "skill": "Place", "language_memory": "The robot has placed the yellow dice, green dice, white die, and tennis ball into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 1446, "end_frame": 1530, "skill": "AdjustPosture", "language_memory": "The robot has organized the yellow dice, green dice, white die, and tennis ball into the storage box."}, {"action_text": "pick up the red dice", "start_frame": 1530, "end_frame": 1757, "skill": "Pick", "language_memory": "The robot has organized multiple toys, including yellow, green, and white dice along with a tennis ball, by placing them into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 1757, "end_frame": 1916, "skill": "Aim", "language_memory": "The robot has organized the yellow, green, and white dice, a tennis ball, and the red dice into the storage box."}, {"action_text": "place the red die into the storage box", "start_frame": 1916, "end_frame": 1986, "skill": "Place", "language_memory": "The robot has organized the yellow, green, and white dice, a tennis ball from the lid, and another tennis ball from the table into the storage box, and is currently aiming at the storage box after picking up the red dice."}, {"action_text": "close the storage box with the lid", "start_frame": 1986, "end_frame": 2354, "skill": "Close", "language_memory": "The robot has organized the yellow, green, white, and red dice along with the tennis ball into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the scattered toys by first picking up the yellow, green, and white dice, then the tennis ball resting on the storage box lid, and placing each item into the storage box. Next, aim at the desk to pick up the remaining tennis ball, aim back at the storage box, and place this ball inside as well. Proceed to pick up the red die and place it into the storage box. Finally, adjust the robot posture and close the storage box with its lid to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 67, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000067.mp4", "length": 2172, "action_config": [{"action_text": "pick up the yellow dice", "start_frame": 0, "end_frame": 251, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "move to the storage box", "start_frame": 251, "end_frame": 367, "skill": "Navigate", "language_memory": "The robot has picked up the yellow dice."}, {"action_text": "pick up the yellow dice and place it into the storage box", "start_frame": 367, "end_frame": 477, "skill": "PickAndPlace", "language_memory": "The robot has picked up the yellow dice and moved to the storage box."}, {"action_text": "pick up the red dice and place it into the storage box", "start_frame": 477, "end_frame": 881, "skill": "PickAndPlace", "language_memory": "The robot has picked up the yellow dice and placed it into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 881, "end_frame": 977, "skill": "AdjustPosture", "language_memory": "The robot has placed the yellow and red dice into the storage box."}, {"action_text": "pick up the brown dice", "start_frame": 977, "end_frame": 1175, "skill": "Pick", "language_memory": "The robot has organized the yellow and red dice into the storage box and adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 1175, "end_frame": 1294, "skill": "Aim", "language_memory": "The robot has organized the yellow, red, and brown dice into the storage box."}, {"action_text": "place the brown die into the storage box", "start_frame": 1294, "end_frame": 1458, "skill": "Place", "language_memory": "The robot has successfully organized the yellow, red, and brown dice into the storage box."}, {"action_text": "close the storage box", "start_frame": 1458, "end_frame": 1997, "skill": "Close", "language_memory": "The robot has successfully organized the yellow, red, and brown dice into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the scattered dice by first picking up the yellow dice and moving to the storage box to place it inside. Next, pick up the red dice and place it into the same storage box. After adjusting the robot's posture, pick up the brown dice, aim at the storage box, and place the brown die inside. Finally, close the storage box to complete the organization of all three dice."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 68, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000068.mp4", "length": 2624, "action_config": [{"action_text": "pick up the tennis ball from the ground and place it into the storage box", "start_frame": 0, "end_frame": 246, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the red dice and place it into the storage box", "start_frame": 246, "end_frame": 491, "skill": "PickAndPlace", "language_memory": "The tennis ball has been picked up from the ground and placed into the storage box."}, {"action_text": "pick up the green die and place it into the storage box", "start_frame": 491, "end_frame": 722, "skill": "PickAndPlace", "language_memory": "The robot has placed the tennis ball and red dice into the storage box."}, {"action_text": "pick up the white dice and place it into the storage box", "start_frame": 722, "end_frame": 974, "skill": "PickAndPlace", "language_memory": "The robot has placed the tennis ball, red dice, and green die into the storage box."}, {"action_text": "aim at the table", "start_frame": 974, "end_frame": 1168, "skill": "Aim", "language_memory": "The robot has placed the tennis ball and all dice into the storage box."}, {"action_text": "pick up the tennis ball on the table", "start_frame": 1168, "end_frame": 1254, "skill": "Pick", "language_memory": "The robot has placed the tennis ball and all dice into the storage box and is currently aiming at the table."}, {"action_text": "aim at the storage box", "start_frame": 1254, "end_frame": 1411, "skill": "Aim", "language_memory": "The robot has placed the tennis ball and all dice into the storage box and is currently aiming at the table to pick up the tennis ball."}, {"action_text": "place the tennis ball into the storage box", "start_frame": 1411, "end_frame": 1471, "skill": "Place", "language_memory": "The robot has organized multiple toys, including a tennis ball and several dice, by picking them up from the ground and table and placing them into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 1471, "end_frame": 1568, "skill": "AdjustPosture", "language_memory": "The robot has organized multiple toys, including tennis balls and dice, by picking them up from the ground and table and placing them into the storage box."}, {"action_text": "pick up the yellow dice", "start_frame": 1568, "end_frame": 1728, "skill": "Pick", "language_memory": "The robot has organized multiple toys, including tennis balls and dice, by picking them up from the ground and table and placing them into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 1728, "end_frame": 1927, "skill": "Aim", "language_memory": "The robot has organized multiple dice and a tennis ball into the storage box and is currently holding a yellow die."}, {"action_text": "place the yellow die into the storage box", "start_frame": 1927, "end_frame": 2010, "skill": "Place", "language_memory": "The robot has organized multiple toys, including tennis balls and dice of various colors, by picking them up from the ground and table and placing them into the storage box."}, {"action_text": "close the storage box with the lid", "start_frame": 2010, "end_frame": 2440, "skill": "Close", "language_memory": "The robot has organized multiple toys, including tennis balls and various colored dice, by picking them up from the ground and table and placing them into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the scattered toys by first picking up the tennis ball from the ground and placing it into the storage box. Next, retrieve the red, green, and white dice from their current locations and place each one into the storage box. Afterward, aim at the table to pick up the tennis ball located there and then aim at the storage box to place it inside. Proceed to pick up the yellow dice and place it into the storage box. Finally, adjust the robot posture as needed and close the storage box with its lid to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 69, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000069.mp4", "length": 2951, "action_config": [{"action_text": "pick up the dice", "start_frame": 0, "end_frame": 241, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the green dice and place it into the storage box", "start_frame": 241, "end_frame": 338, "skill": "PickAndPlace", "language_memory": "The robot has picked up the dice."}, {"action_text": "pick up the tennis ball from the ground and place it into the storage box", "start_frame": 338, "end_frame": 645, "skill": "PickAndPlace", "language_memory": "The robot has picked up the dice and placed the green dice into the storage box."}, {"action_text": "pick up the red dice and place it into the storage box", "start_frame": 645, "end_frame": 982, "skill": "PickAndPlace", "language_memory": "The robot has picked up the dice and placed the green dice and tennis ball into the storage box."}, {"action_text": "pick up the tennis ball on the storage box lid and place it into the storage box", "start_frame": 982, "end_frame": 1367, "skill": "PickAndPlace", "language_memory": "The robot has placed the dice and the tennis ball into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 1367, "end_frame": 1451, "skill": "AdjustPosture", "language_memory": "The robot has organized multiple toys, including dice and tennis balls, by placing them into the storage box."}, {"action_text": "pick up the yellow dice", "start_frame": 1451, "end_frame": 1598, "skill": "Pick", "language_memory": "The robot has organized multiple toys, including dice and tennis balls, by placing them into the storage box and adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 1598, "end_frame": 1788, "skill": "Aim", "language_memory": "The robot has organized multiple dice and tennis balls into the storage box and adjusted its posture."}, {"action_text": "place the yellow die into the storage box", "start_frame": 1788, "end_frame": 1849, "skill": "Place", "language_memory": "The robot has organized multiple toys, including dice and tennis balls, by picking them up and placing them into the storage box, and has adjusted its posture while aiming at the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 1849, "end_frame": 1932, "skill": "AdjustPosture", "language_memory": "The robot has organized multiple toys, including several dice and tennis balls, by picking them up and placing them into the storage box."}, {"action_text": "pick up the dice", "start_frame": 1932, "end_frame": 2093, "skill": "Pick", "language_memory": "The robot has organized multiple toys, including dice and tennis balls, by picking them up and placing them into the storage box."}, {"action_text": "pick up the white dice", "start_frame": 2093, "end_frame": 2151, "skill": "Pick", "language_memory": "The robot has organized multiple toys, including several dice and tennis balls, by picking them up and placing them into the storage box, while also adjusting its posture during the process."}, {"action_text": "aim at the storage box", "start_frame": 2151, "end_frame": 2311, "skill": "Aim", "language_memory": "The robot has organized multiple dice and tennis balls into the storage box and adjusted its posture."}, {"action_text": "place the white die into the storage box", "start_frame": 2311, "end_frame": 2385, "skill": "Place", "language_memory": "The robot has successfully organized multiple dice and tennis balls into the storage box, adjusted its posture, and is currently aiming at the storage box."}, {"action_text": "close the storage box with the lid", "start_frame": 2385, "end_frame": 2796, "skill": "Close", "language_memory": "The robot has successfully organized multiple dice and tennis balls into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the scattered toys by placing all dice and tennis balls into the storage box. Begin by picking up the dice, then the green dice, followed by the tennis ball from the ground, and place each into the storage box. Next, retrieve the red dice and the tennis ball currently resting on the storage box lid, placing them inside as well. Adjust the robot posture to access the yellow dice, aim at the storage box, and place the yellow die inside. After another posture adjustment, pick up the remaining dice and the white dice, aiming at the box before placing the white die inside. Finally, close the storage box with its lid to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 70, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000070.mp4", "length": 1854, "action_config": [{"action_text": "pick up the brown dice and place it into the storage box", "start_frame": 0, "end_frame": 374, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the front tennis ball and place it into the storage box", "start_frame": 374, "end_frame": 629, "skill": "PickAndPlace", "language_memory": "The brown dice has been placed into the storage box."}, {"action_text": "pick up the green dice and place it into the storage box", "start_frame": 629, "end_frame": 894, "skill": "PickAndPlace", "language_memory": "The robot has placed the brown dice and the front tennis ball into the storage box."}, {"action_text": "pick up the tennis ball on the ground and place it into the storage box", "start_frame": 894, "end_frame": 1158, "skill": "PickAndPlace", "language_memory": "The robot has placed the brown dice, front tennis ball, and green dice into the storage box."}, {"action_text": "close the storage box with the lid", "start_frame": 1158, "end_frame": 1724, "skill": "Close", "language_memory": "The robot has placed the brown dice, green dice, front tennis ball, and ground tennis ball into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by picking up the brown dice, the front tennis ball, the green dice, and the tennis ball on the ground, placing each one into the storage box in that specific order, and finally closing the storage box with its lid."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 71, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000071.mp4", "length": 5046, "action_config": [{"action_text": "pick up the tennis ball", "start_frame": 0, "end_frame": 286, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the tennis ball and place it into the storage box", "start_frame": 286, "end_frame": 532, "skill": "PickAndPlace", "language_memory": "The robot has picked up the tennis ball."}, {"action_text": "pick up the green dice", "start_frame": 532, "end_frame": 1498, "skill": "Pick", "language_memory": "The robot has picked up the tennis ball and placed it into the storage box."}, {"action_text": "pick up the green dice and place it into the storage box", "start_frame": 1498, "end_frame": 1842, "skill": "PickAndPlace", "language_memory": "The robot has picked up the tennis ball, placed it into the storage box, and picked up the green dice."}, {"action_text": "adjust the robot posture", "start_frame": 1842, "end_frame": 1918, "skill": "AdjustPosture", "language_memory": "The robot has placed the tennis ball and green dice into the storage box."}, {"action_text": "pick up the yellow dice and place it into the storage box", "start_frame": 1918, "end_frame": 2614, "skill": "PickAndPlace", "language_memory": "The robot has organized the tennis ball and green dice into the storage box and adjusted its posture."}, {"action_text": "adjust the robot posture", "start_frame": 2614, "end_frame": 2707, "skill": "AdjustPosture", "language_memory": "The robot has organized the tennis ball, green dice, and yellow dice into the storage box."}, {"action_text": "pick up the red dice", "start_frame": 2707, "end_frame": 2940, "skill": "Pick", "language_memory": "The robot has organized the tennis ball, green dice, and yellow dice into the storage box."}, {"action_text": "pick up the red dice and place it into the storage box", "start_frame": 2940, "end_frame": 3255, "skill": "PickAndPlace", "language_memory": "The robot has organized the tennis ball, green dice, and yellow dice into the storage box and is currently holding the red dice."}, {"action_text": "aim at the cabinet", "start_frame": 3255, "end_frame": 3363, "skill": "Aim", "language_memory": "The robot has organized the tennis ball, green dice, yellow dice, and red dice into the storage box."}, {"action_text": "pick up the tennis ball on the storage cabinet and place it into the storage box", "start_frame": 3363, "end_frame": 3804, "skill": "PickAndPlace", "language_memory": "The robot has organized the tennis ball and all dice into the storage box and is currently aiming at the cabinet."}, {"action_text": "move to the storage cabinet", "start_frame": 3804, "end_frame": 3981, "skill": "Navigate", "language_memory": "The robot has organized the tennis ball and all dice (green, yellow, and red) into the storage box."}, {"action_text": "pick up the brown dice", "start_frame": 3981, "end_frame": 4107, "skill": "Pick", "language_memory": "The robot has organized the tennis ball and all dice (green, yellow, and red) into the storage box, adjusted its posture, and moved to the storage cabinet."}, {"action_text": "pick up the brown dice and place it into the storage box", "start_frame": 4107, "end_frame": 4479, "skill": "PickAndPlace", "language_memory": "The robot has organized the tennis ball and multiple dice (green, yellow, red, and brown) into the storage box, adjusted its posture, and is currently positioned at the storage cabinet to pick up the brown dice."}, {"action_text": "close the storage box with the lid", "start_frame": 4479, "end_frame": 4954, "skill": "Close", "language_memory": "The robot has organized the tennis ball and multiple dice (green, yellow, red, and brown) by picking them up and placing them into the storage box, while also adjusting its posture and moving to the cabinet as needed."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the scattered toys by first picking up the tennis ball, the green dice, the yellow dice, and the red dice, placing each into the storage box. Adjust the robot posture as needed to reach these items. Next, move to the storage cabinet, aim at it, and retrieve the tennis ball located there, placing it into the storage box. Then, pick up the brown dice and place it into the storage box. Finally, close the storage box with its lid to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 72, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000072.mp4", "length": 3238, "action_config": [{"action_text": "pick up the brown dice and place it into the storage box", "start_frame": 0, "end_frame": 308, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the tennis ball and place it into the storage box", "start_frame": 308, "end_frame": 543, "skill": "PickAndPlace", "language_memory": "The brown dice has been placed into the storage box."}, {"action_text": "aim at the table", "start_frame": 543, "end_frame": 617, "skill": "Aim", "language_memory": "The robot has placed the brown dice and tennis ball into the storage box."}, {"action_text": "pick up the red dice", "start_frame": 617, "end_frame": 797, "skill": "Pick", "language_memory": "The robot has placed the brown dice and tennis ball into the storage box and is currently aiming at the table."}, {"action_text": "aim at the storage box", "start_frame": 797, "end_frame": 903, "skill": "Aim", "language_memory": "The robot has placed the brown dice and tennis ball into the storage box and is currently holding the red dice."}, {"action_text": "place the red die into the storage box", "start_frame": 903, "end_frame": 1035, "skill": "Place", "language_memory": "The robot has placed the brown dice and tennis ball into the storage box and is currently aiming at the storage box after picking up the red dice."}, {"action_text": "adjust the robot posture", "start_frame": 1035, "end_frame": 1123, "skill": "AdjustPosture", "language_memory": "The robot has placed the brown dice, tennis ball, and red dice into the storage box."}, {"action_text": "pick up the yellow dice", "start_frame": 1123, "end_frame": 1355, "skill": "Pick", "language_memory": "The robot has organized the brown dice, tennis ball, and red dice into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 1355, "end_frame": 1457, "skill": "Aim", "language_memory": "The robot has placed the brown dice, tennis ball, and red dice into the storage box and is currently holding the yellow dice."}, {"action_text": "place the yellow die into the storage box", "start_frame": 1457, "end_frame": 1615, "skill": "Place", "language_memory": "The robot has organized the brown dice, tennis ball, and red dice into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 1615, "end_frame": 1714, "skill": "AdjustPosture", "language_memory": "The robot has organized the brown, red, and yellow dice and the tennis ball into the storage box."}, {"action_text": "pick up the green dice", "start_frame": 1714, "end_frame": 1949, "skill": "Pick", "language_memory": "The robot has successfully organized the brown dice, tennis ball, red dice, and yellow dice into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 1949, "end_frame": 2053, "skill": "Aim", "language_memory": "The robot has successfully placed the brown, red, and yellow dice and the tennis ball into the storage box and is currently holding the green dice."}, {"action_text": "place the green die into the storage box", "start_frame": 2053, "end_frame": 2211, "skill": "Place", "language_memory": "The robot has successfully organized the brown, red, and yellow dice, as well as the tennis ball, into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 2211, "end_frame": 2291, "skill": "AdjustPosture", "language_memory": "The robot has successfully organized the brown, red, yellow, and green dice and the tennis ball into the storage box."}, {"action_text": "pick up the tennis ball", "start_frame": 2291, "end_frame": 2512, "skill": "Pick", "language_memory": "The robot has successfully organized the brown, red, yellow, and green dice and the tennis ball into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 2512, "end_frame": 2633, "skill": "Aim", "language_memory": "The robot has successfully organized the brown, red, yellow, and green dice, along with one tennis ball, into the storage box."}, {"action_text": "place the tennis ball into the storage box", "start_frame": 2633, "end_frame": 2780, "skill": "Place", "language_memory": "The robot has successfully organized the brown, red, yellow, and green dice, along with two tennis balls, by placing them into the storage box."}, {"action_text": "close the storage box", "start_frame": 2780, "end_frame": 3059, "skill": "Close", "language_memory": "The robot has successfully organized all toys, including multiple dice and tennis balls, by picking them up and placing them into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the scattered toys by first picking up the brown dice and placing it into the storage box. Next, retrieve the tennis ball and place it into the same box. Then, pick up the red dice, aim at the storage box, and place it inside. Adjust your posture as needed to reach the items. Proceed to pick up the yellow dice, aim at the storage box, and place it inside. Again, adjust your posture. Continue by picking up the green dice, aiming at the storage box, and placing it inside. Finally, pick up the tennis ball, aim at the storage box, and place it inside before closing the storage box to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 73, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000073.mp4", "length": 2786, "action_config": [{"action_text": "pick up the rear tennis ball and place it into the storage box", "start_frame": 0, "end_frame": 271, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the tennis ball on the red dice and place it into the storage box", "start_frame": 271, "end_frame": 387, "skill": "PickAndPlace", "language_memory": "The rear tennis ball has been placed into the storage box."}, {"action_text": "pick up the red dice and place it into the storage box", "start_frame": 387, "end_frame": 687, "skill": "PickAndPlace", "language_memory": "The robot has placed two tennis balls into the storage box."}, {"action_text": "pick up the brown dice and place it into the storage box", "start_frame": 687, "end_frame": 1072, "skill": "PickAndPlace", "language_memory": "The robot has placed the rear tennis ball, the tennis ball on the red dice, and the red dice into the storage box."}, {"action_text": "pick up the yellow dice", "start_frame": 1072, "end_frame": 1309, "skill": "Pick", "language_memory": "The robot has placed two tennis balls and two dice into the storage box."}, {"action_text": "pick up the yellow dice and place it into the storage box", "start_frame": 1309, "end_frame": 1555, "skill": "PickAndPlace", "language_memory": "The robot has placed the rear tennis ball, the tennis ball on the red dice, the red dice, and the brown dice into the storage box, and is currently holding the yellow dice."}, {"action_text": "pick up the green dice", "start_frame": 1555, "end_frame": 1837, "skill": "Pick", "language_memory": "The robot has placed the rear tennis ball, the tennis ball on the red dice, the red dice, the brown dice, and the yellow dice into the storage box."}, {"action_text": "pick up the green dice and place it into the storage box", "start_frame": 1837, "end_frame": 2118, "skill": "PickAndPlace", "language_memory": "The robot has placed the rear tennis ball, the tennis ball on the red dice, the red dice, the brown dice, and the yellow dice into the storage box, while holding the green dice."}, {"action_text": "close the storage box with the lid", "start_frame": 2118, "end_frame": 2686, "skill": "Close", "language_memory": "The robot has placed the rear tennis ball, the tennis ball on the red dice, the red dice, the brown dice, and the green dice into the storage box, while the yellow dice has been picked up but not yet placed."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by first picking up the rear tennis ball and placing it into the storage box, followed by the tennis ball resting on the red dice. Next, place the red dice and the brown dice into the storage box. Then, pick up the yellow dice and place it into the storage box, followed by the green dice. Finally, close the storage box with its lid."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 74, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000074.mp4", "length": 4594, "action_config": [{"action_text": "pick up the tennis ball and place it into the storage box", "start_frame": 0, "end_frame": 641, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the green dice", "start_frame": 641, "end_frame": 977, "skill": "Pick", "language_memory": "The tennis ball has been placed into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 977, "end_frame": 1092, "skill": "Aim", "language_memory": "The robot has placed the tennis ball into the storage box and is currently holding the green dice."}, {"action_text": "place the green die into the storage box", "start_frame": 1092, "end_frame": 1257, "skill": "Place", "language_memory": "The robot has placed the tennis ball into the storage box and picked up the green dice, while currently aiming at the storage box."}, {"action_text": "aim at the storage cabinet", "start_frame": 1257, "end_frame": 1362, "skill": "Aim", "language_memory": "The robot has placed the tennis ball and the green die into the storage box."}, {"action_text": "pick up the brown dice and place it into the storage box", "start_frame": 1362, "end_frame": 2003, "skill": "PickAndPlace", "language_memory": "The robot has placed the tennis ball and green die into the storage box and is currently aiming at the storage cabinet."}, {"action_text": "adjust the robot posture", "start_frame": 2003, "end_frame": 2058, "skill": "AdjustPosture", "language_memory": "The robot has placed the tennis ball, green die, and brown die into the storage box."}, {"action_text": "pick up the red dice and place it into the storage box", "start_frame": 2058, "end_frame": 2533, "skill": "PickAndPlace", "language_memory": "The robot has organized the tennis ball, green dice, and brown dice into the storage box and adjusted its posture."}, {"action_text": "adjust the robot posture", "start_frame": 2533, "end_frame": 2614, "skill": "AdjustPosture", "language_memory": "The robot has organized the tennis ball and three dice (green, brown, and red) into the storage box."}, {"action_text": "pick up the yellow dice and place it into the storage box", "start_frame": 2614, "end_frame": 3385, "skill": "PickAndPlace", "language_memory": "The robot has organized the tennis ball and multiple dice (green, brown, and red) into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 3385, "end_frame": 3435, "skill": "AdjustPosture", "language_memory": "The robot has organized the tennis ball and all dice (green, brown, red, and yellow) into the storage box."}, {"action_text": "pick up the tennis ball from the storage cabinet and place it into the storage box", "start_frame": 3435, "end_frame": 4081, "skill": "PickAndPlace", "language_memory": "The robot has organized the tennis ball and all dice (green, brown, red, and yellow) into the storage box."}, {"action_text": "close the storage box with the lid", "start_frame": 4081, "end_frame": 4512, "skill": "Close", "language_memory": "The robot has organized multiple toys, including tennis balls and various colored dice, by picking them up and placing them into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the scattered toys by first picking up the tennis ball and placing it into the storage box. Next, aim at the storage box, pick up the green dice, and place it inside. Then, aim at the storage cabinet, pick up the brown dice, and place it into the storage box. Adjust the robot posture, pick up the red dice, and place it into the storage box. Adjust the robot posture again, pick up the yellow dice, and place it into the storage box. Finally, adjust the robot posture, pick up the tennis ball from the storage cabinet, place it into the storage box, and close the storage box with the lid."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 75, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000075.mp4", "length": 1574, "action_config": [{"action_text": "move to the storage box", "start_frame": 0, "end_frame": 127, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the tennis ball on the ground and place it into the storage box", "start_frame": 127, "end_frame": 419, "skill": "PickAndPlace", "language_memory": "The robot has moved to the storage box."}, {"action_text": "pick up the green dice and place it into the storage box", "start_frame": 419, "end_frame": 518, "skill": "PickAndPlace", "language_memory": "The robot moved to the storage box and placed the tennis ball inside."}, {"action_text": "pick up the brown dice and place it into the storage box", "start_frame": 518, "end_frame": 611, "skill": "PickAndPlace", "language_memory": "The robot has moved to the storage box and placed the tennis ball and green dice inside."}, {"action_text": "pick up the yellow dice", "start_frame": 611, "end_frame": 860, "skill": "Pick", "language_memory": "The robot has moved to the storage box and placed the tennis ball, green dice, and brown dice inside."}, {"action_text": "pick up the yellow dice and place it into the storage box", "start_frame": 860, "end_frame": 1139, "skill": "PickAndPlace", "language_memory": "The robot has moved to the storage box and placed the tennis ball, green dice, and brown dice inside, while currently holding the yellow dice."}, {"action_text": "close the storage box with the lid", "start_frame": 1139, "end_frame": 1486, "skill": "Close", "language_memory": "The robot has moved to the storage box and placed the tennis ball, green dice, brown dice, and yellow dice into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Move to the storage box and organize the toys by picking up the tennis ball from the ground and placing it inside, followed by placing the green dice and the brown dice into the box. Next, pick up the yellow dice from its current location and place it into the storage box. Finally, close the storage box with the lid to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 76, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000076.mp4", "length": 3699, "action_config": [{"action_text": "pick up the tennis ball", "start_frame": 0, "end_frame": 326, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the tennis ball and place it into the storage box", "start_frame": 326, "end_frame": 496, "skill": "PickAndPlace", "language_memory": "The robot has picked up the tennis ball."}, {"action_text": "pick up the brown dice and place it into the storage box", "start_frame": 496, "end_frame": 750, "skill": "PickAndPlace", "language_memory": "The robot has picked up the tennis ball and placed it into the storage box."}, {"action_text": "pick up the green die", "start_frame": 750, "end_frame": 987, "skill": "Pick", "language_memory": "The robot has placed the tennis ball and brown dice into the storage box."}, {"action_text": "place the green die into the storage box", "start_frame": 987, "end_frame": 1310, "skill": "Place", "language_memory": "The robot has placed the tennis ball and brown dice into the storage box and is currently holding the green die."}, {"action_text": "pick up the yellow dice", "start_frame": 1310, "end_frame": 1475, "skill": "Pick", "language_memory": "The robot has organized the tennis ball, brown dice, and green die into the storage box."}, {"action_text": "pick up the yellow dice and place it into the storage box", "start_frame": 1475, "end_frame": 1846, "skill": "PickAndPlace", "language_memory": "The robot has organized the tennis ball, brown dice, and green die into the storage box and is currently holding the yellow dice."}, {"action_text": "aim at the cabinet", "start_frame": 1846, "end_frame": 1971, "skill": "Aim", "language_memory": "The robot has organized the tennis ball, brown dice, green die, and yellow dice into the storage box."}, {"action_text": "pick up the red dice and place it into the storage box", "start_frame": 1971, "end_frame": 2499, "skill": "PickAndPlace", "language_memory": "The robot has organized the tennis ball, brown dice, green die, and yellow dice into the storage box and is currently aiming at the cabinet."}, {"action_text": "adjust the robot posture", "start_frame": 2499, "end_frame": 2572, "skill": "AdjustPosture", "language_memory": "The robot has organized multiple toys, including tennis balls and various colored dice, by picking them up and placing them into the storage box."}, {"action_text": "pick up the tennis ball on the storage cabinet and place it into the storage box", "start_frame": 2572, "end_frame": 3076, "skill": "PickAndPlace", "language_memory": "The robot has organized multiple toys, including tennis balls and various colored dice, by picking them up and placing them into the storage box, and has adjusted its posture."}, {"action_text": "close the storage box with the lid", "start_frame": 3076, "end_frame": 3628, "skill": "Close", "language_memory": "The robot has organized multiple toys, including tennis balls and various colored dice, by picking them up and placing them into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the scattered toys by first picking up the tennis ball and placing it into the storage box. Next, pick up the brown dice and place it into the storage box. Then, pick up the green die and place it into the storage box. After that, pick up the yellow dice and place it into the storage box. Aim at the cabinet, pick up the red dice, and place it into the storage box. Adjust the robot posture, then pick up the tennis ball from the storage cabinet and place it into the storage box. Finally, close the storage box with the lid."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 77, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000077.mp4", "length": 3410, "action_config": [{"action_text": "pick up the red dice and place it into the storage box", "start_frame": 0, "end_frame": 340, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the yellow dice and place it into the storage box", "start_frame": 340, "end_frame": 641, "skill": "PickAndPlace", "language_memory": "The red dice has been placed into the storage box."}, {"action_text": "pick up the tennis ball on the ground and place it into the storage box", "start_frame": 641, "end_frame": 935, "skill": "PickAndPlace", "language_memory": "The robot has placed the red and yellow dice into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 935, "end_frame": 1028, "skill": "AdjustPosture", "language_memory": "The robot has placed the red dice, yellow dice, and tennis ball into the storage box."}, {"action_text": "pick up the tennis ball", "start_frame": 1028, "end_frame": 1217, "skill": "Pick", "language_memory": "The robot has placed the red dice, yellow dice, and tennis ball into the storage box and adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 1217, "end_frame": 1291, "skill": "Aim", "language_memory": "The robot has placed the red dice, yellow dice, and a tennis ball into the storage box, adjusted its posture, and picked up another tennis ball."}, {"action_text": "place the tennis ball into the storage box", "start_frame": 1291, "end_frame": 1425, "skill": "Place", "language_memory": "The robot has placed the red dice, yellow dice, and a tennis ball into the storage box, adjusted its posture, picked up another tennis ball, and is currently aiming at the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 1425, "end_frame": 1503, "skill": "AdjustPosture", "language_memory": "The robot has organized the red dice, yellow dice, and tennis ball into the storage box."}, {"action_text": "pick up the green dice", "start_frame": 1503, "end_frame": 1711, "skill": "Pick", "language_memory": "The robot has organized the red dice, yellow dice, and tennis balls into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 1711, "end_frame": 1893, "skill": "Aim", "language_memory": "The robot has organized the red dice, yellow dice, and tennis balls into the storage box and is currently holding the green dice."}, {"action_text": "place the green die into the storage box", "start_frame": 1893, "end_frame": 1957, "skill": "Place", "language_memory": "The robot has organized the red dice, yellow dice, and tennis balls into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 1957, "end_frame": 2042, "skill": "AdjustPosture", "language_memory": "The robot has organized the red, yellow, and green dice and the tennis ball into the storage box."}, {"action_text": "pick up the brown dice", "start_frame": 2042, "end_frame": 2403, "skill": "Pick", "language_memory": "The robot has organized the red, yellow, and green dice and the tennis ball into the storage box."}, {"action_text": "retreat from the table", "start_frame": 2403, "end_frame": 2447, "skill": "Retreat", "language_memory": "The robot has organized the red, yellow, and green dice along with the tennis ball into the storage box."}, {"action_text": "place the brown die into the storage box", "start_frame": 2447, "end_frame": 2659, "skill": "Place", "language_memory": "The robot has organized multiple toys, including red, yellow, green, and brown dice along with a tennis ball, by picking them up and placing them into the storage box."}, {"action_text": "close the storage box", "start_frame": 2659, "end_frame": 3239, "skill": "Close", "language_memory": "The robot has organized multiple toys, including red, yellow, green, and brown dice along with a tennis ball, by picking them up and placing them into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the scattered toys by first picking up the red, yellow, and green dice, placing each into the storage box. Next, retrieve the tennis ball from the ground, adjust your posture to aim at the box, and place the ball inside. Then, pick up the brown dice, retreat from the table, and place it into the storage box. Finally, close the storage box to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 78, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000078.mp4", "length": 2708, "action_config": [{"action_text": "pick up the yellow dice and place it into the storage box", "start_frame": 0, "end_frame": 536, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "adjust the robot posture", "start_frame": 536, "end_frame": 617, "skill": "AdjustPosture", "language_memory": "The yellow dice has been placed into the storage box."}, {"action_text": "pick up the tennis ball", "start_frame": 617, "end_frame": 846, "skill": "Pick", "language_memory": "The robot has placed the yellow dice into the storage box and adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 846, "end_frame": 952, "skill": "Aim", "language_memory": "The robot has placed the yellow dice into the storage box and picked up the tennis ball."}, {"action_text": "place the tennis dice into the storage box", "start_frame": 952, "end_frame": 1061, "skill": "Place", "language_memory": "The robot has placed the yellow dice into the storage box and is currently holding the tennis ball while aiming at the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 1061, "end_frame": 1124, "skill": "AdjustPosture", "language_memory": "The robot has placed the yellow dice and the tennis ball into the storage box."}, {"action_text": "pick up the red dice", "start_frame": 1124, "end_frame": 1363, "skill": "Pick", "language_memory": "The robot has placed the yellow dice and tennis ball into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 1363, "end_frame": 1451, "skill": "Aim", "language_memory": "The robot has organized the yellow dice, tennis ball, and red dice into the storage box."}, {"action_text": "place the red die into the storage box", "start_frame": 1451, "end_frame": 1672, "skill": "Place", "language_memory": "The robot has organized the yellow dice, tennis ball, and red dice into the storage box."}, {"action_text": "pick up the storage box lid", "start_frame": 1672, "end_frame": 2067, "skill": "Pick", "language_memory": "The robot has organized the yellow dice, tennis ball, and red dice into the storage box."}, {"action_text": "aim at the table", "start_frame": 2067, "end_frame": 2215, "skill": "Aim", "language_memory": "The robot has organized the yellow dice, tennis ball, and red dice into the storage box and is currently holding the storage box lid."}, {"action_text": "close the storage box", "start_frame": 2215, "end_frame": 2613, "skill": "Close", "language_memory": "The robot has organized the yellow dice, tennis ball, and red dice into the storage box and is currently aiming at the table."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by first adjusting the robot posture, then picking up the yellow dice, the tennis ball, and the red dice in sequence. Aim at the storage box and place each of these items inside. After loading all three objects, adjust the robot posture again, pick up the storage box lid, aim at the table, and finally close the storage box to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 79, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000079.mp4", "length": 3804, "action_config": [{"action_text": "pick up the right tennis ball and place it into the storage box", "start_frame": 47, "end_frame": 288, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the tennis ball", "start_frame": 288, "end_frame": 513, "skill": "Pick", "language_memory": "The right tennis ball has been placed into the storage box."}, {"action_text": "pick up the tennis ball from the ground and place it into the storage box", "start_frame": 513, "end_frame": 677, "skill": "PickAndPlace", "language_memory": "The robot has placed a tennis ball into the storage box and picked up another tennis ball."}, {"action_text": "aim at the storage cabinet", "start_frame": 677, "end_frame": 828, "skill": "Aim", "language_memory": "The robot has placed multiple tennis balls into the storage box."}, {"action_text": "pick up the brown dice and place it into the storage box", "start_frame": 828, "end_frame": 1267, "skill": "PickAndPlace", "language_memory": "The robot has placed multiple tennis balls into the storage box and is currently aiming at the storage cabinet."}, {"action_text": "aim at the storage cabinet", "start_frame": 1267, "end_frame": 1393, "skill": "Aim", "language_memory": "The robot has placed multiple tennis balls and a brown dice into the storage box."}, {"action_text": "pick up the yellow dice and place it into the storage box", "start_frame": 1393, "end_frame": 2001, "skill": "PickAndPlace", "language_memory": "The robot has placed multiple tennis balls and a brown dice into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 2001, "end_frame": 2060, "skill": "AdjustPosture", "language_memory": "The robot has placed the right tennis ball, a brown dice, and a yellow dice into the storage box."}, {"action_text": "pick up the red dice and place it into the storage box", "start_frame": 2060, "end_frame": 2671, "skill": "PickAndPlace", "language_memory": "The robot has organized toys by placing tennis balls and dice into the storage box and adjusted its posture."}, {"action_text": "adjust the robot posture", "start_frame": 2671, "end_frame": 2754, "skill": "AdjustPosture", "language_memory": "The robot has organized multiple toys, including tennis balls and dice of various colors, by picking them up and placing them into the storage box."}, {"action_text": "pick up the green dice and place it into the storage box", "start_frame": 2754, "end_frame": 3313, "skill": "PickAndPlace", "language_memory": "The robot has organized multiple toys, including tennis balls and dice of various colors, by picking them up and placing them into the storage box."}, {"action_text": "pick up the storage box lid", "start_frame": 3313, "end_frame": 3391, "skill": "Pick", "language_memory": "The robot has successfully organized multiple toys, including tennis balls and dice of various colors, by picking them up and placing them into the storage box."}, {"action_text": "close the storage box with the lid", "start_frame": 3391, "end_frame": 3706, "skill": "Close", "language_memory": "The robot has organized multiple toys, including tennis balls and various colored dice, by placing them into the storage box and is currently holding the storage box lid."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the scattered toys by first adjusting your posture to pick up a tennis ball from the ground and placing it into the storage box. Next, aim at the storage cabinet to pick up the brown dice and place it inside, then adjust your posture again to pick up the yellow dice and place it in the box. Continue by adjusting your posture to pick up the red dice and place it in the storage box, followed by another posture adjustment to pick up the green dice and place it in the box. Finally, pick up the storage box lid and close the storage box securely."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 80, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000080.mp4", "length": 3883, "action_config": [{"action_text": "pick up the yellow dice", "start_frame": 79, "end_frame": 581, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the yellow dice and place it into the storage box", "start_frame": 581, "end_frame": 709, "skill": "PickAndPlace", "language_memory": "The robot has picked up the yellow dice."}, {"action_text": "pick up the red dice and place it into the storage box", "start_frame": 709, "end_frame": 955, "skill": "PickAndPlace", "language_memory": "The robot has picked up the yellow dice and placed it into the storage box."}, {"action_text": "pick up the front tennis ball and place it in the storage box", "start_frame": 955, "end_frame": 1342, "skill": "PickAndPlace", "language_memory": "The robot has placed the yellow and red dice into the storage box."}, {"action_text": "pick up the tennis ball", "start_frame": 1342, "end_frame": 1651, "skill": "Pick", "language_memory": "The robot has placed the yellow dice, red dice, and a tennis ball into the storage box."}, {"action_text": "pick up the tennis ball on the ground and place it into the storage box", "start_frame": 1651, "end_frame": 1976, "skill": "PickAndPlace", "language_memory": "The robot has placed the yellow dice, red dice, and front tennis ball into the storage box and is currently holding a tennis ball."}, {"action_text": "aim at the storage cabinet", "start_frame": 1976, "end_frame": 2165, "skill": "Aim", "language_memory": "The robot has organized the toys by placing the yellow dice, red dice, and tennis balls into the storage box."}, {"action_text": "pick up the brown dice and place it into the storage box", "start_frame": 2165, "end_frame": 2729, "skill": "PickAndPlace", "language_memory": "The robot has organized the yellow and red dice and both tennis balls into the storage box and is currently aiming at the storage cabinet."}, {"action_text": "aim at the cabinet", "start_frame": 2729, "end_frame": 2812, "skill": "Aim", "language_memory": "The robot has organized multiple toys, including yellow, red, and brown dice, as well as tennis balls, by picking them up and placing them into the storage box."}, {"action_text": "pick up the green dice and place it into the storage box", "start_frame": 2812, "end_frame": 3239, "skill": "PickAndPlace", "language_memory": "The robot has organized multiple toys, including yellow, red, and brown dice, as well as tennis balls, by picking them up and placing them into the storage box."}, {"action_text": "close the storage box with the lid", "start_frame": 3239, "end_frame": 3785, "skill": "Close", "language_memory": "The robot has organized multiple dice and tennis balls by picking them up and placing them into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the scattered toys by first picking up the yellow dice and placing it into the storage box. Next, pick up the red dice and place it into the storage box, followed by picking up the front tennis ball and placing it in the storage box. Then, pick up the tennis ball from the ground and place it into the storage box. Aim at the storage cabinet, pick up the brown dice, and place it into the storage box. Aim at the cabinet again, pick up the green dice, and place it into the storage box. Finally, close the storage box with the lid."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 81, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000081.mp4", "length": 3060, "action_config": [{"action_text": "pick up the brown dice and place it into the storage box", "start_frame": 0, "end_frame": 420, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the tennis ball on the ground and place it into the storage box", "start_frame": 420, "end_frame": 722, "skill": "PickAndPlace", "language_memory": "The brown dice has been placed into the storage box."}, {"action_text": "pick up the green dice and place it into the storage box", "start_frame": 722, "end_frame": 933, "skill": "PickAndPlace", "language_memory": "The robot has placed the brown dice and the tennis ball into the storage box."}, {"action_text": "pick up the red dice and place it into the storage box", "start_frame": 933, "end_frame": 1221, "skill": "PickAndPlace", "language_memory": "The robot has placed the brown dice, tennis ball, and green dice into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 1221, "end_frame": 1287, "skill": "AdjustPosture", "language_memory": "The robot has placed the brown dice, tennis ball, green dice, and red dice into the storage box."}, {"action_text": "pick up the tennis ball", "start_frame": 1287, "end_frame": 1478, "skill": "Pick", "language_memory": "The robot has placed the brown, green, and red dice along with a tennis ball into the storage box and adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 1478, "end_frame": 1662, "skill": "Aim", "language_memory": "The robot has placed the brown, green, and red dice and one tennis ball into the storage box, adjusted its posture, and is currently holding a second tennis ball."}, {"action_text": "place the tennis ball into the storage box", "start_frame": 1662, "end_frame": 1728, "skill": "Place", "language_memory": "The robot has placed the brown, green, and red dice and one tennis ball into the storage box, adjusted its posture, and is currently aiming at the storage box with a second tennis ball."}, {"action_text": "adjust the robot posture", "start_frame": 1728, "end_frame": 1808, "skill": "AdjustPosture", "language_memory": "The robot has organized multiple toys, including brown, green, and red dice along with tennis balls, by placing them into the storage box."}, {"action_text": "pick up the yellow dice", "start_frame": 1808, "end_frame": 2009, "skill": "Pick", "language_memory": "The robot has organized multiple toys, including brown, green, and red dice along with tennis balls, by placing them into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 2009, "end_frame": 2109, "skill": "Aim", "language_memory": "The robot has organized the brown, green, and red dice, and the tennis ball into the storage box, and is currently holding the yellow dice."}, {"action_text": "place the yellow die into the storage box", "start_frame": 2109, "end_frame": 2311, "skill": "Place", "language_memory": "The robot has organized multiple toys, including brown, green, red, and yellow dice along with tennis balls, by picking them up and placing them into the storage box."}, {"action_text": "close the storage box with the lid", "start_frame": 2311, "end_frame": 2769, "skill": "Close", "language_memory": "The robot has successfully organized multiple toys, including brown, green, red, and yellow dice along with tennis balls, by placing them into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the scattered toys by placing the brown dice, tennis ball, green dice, red dice, and yellow dice into the storage box. Begin by picking up the brown dice and placing it in the box, followed by retrieving the tennis ball from the ground and placing it inside. Next, pick up the green dice and place it in the box, then do the same for the red dice. Afterward, adjust your posture, pick up the tennis ball again, aim at the storage box, and place it inside. Adjust your posture once more, pick up the yellow dice, aim at the storage box, and place the yellow die inside. Finally, close the storage box with its lid to complete the organization."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 82, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000082.mp4", "length": 3390, "action_config": [{"action_text": "pick up the tennis ball and place it into the storage box", "start_frame": 0, "end_frame": 469, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "adjust the robot posture", "start_frame": 469, "end_frame": 558, "skill": "AdjustPosture", "language_memory": "The tennis ball has been placed into the storage box."}, {"action_text": "pick up the yellow dice and place it into the storage box", "start_frame": 558, "end_frame": 1046, "skill": "PickAndPlace", "language_memory": "The robot has placed the tennis ball into the storage box and adjusted its posture."}, {"action_text": "move to the right", "start_frame": 1046, "end_frame": 1166, "skill": "Navigate", "language_memory": "The robot has placed the tennis ball and yellow dice into the storage box and adjusted its posture."}, {"action_text": "pick up the brown dice and place it into the storage box", "start_frame": 1166, "end_frame": 1642, "skill": "PickAndPlace", "language_memory": "The robot has placed the tennis ball and yellow dice into the storage box and adjusted its posture."}, {"action_text": "adjust the robot posture", "start_frame": 1642, "end_frame": 1701, "skill": "AdjustPosture", "language_memory": "The robot has placed the tennis ball, yellow dice, and brown dice into the storage box and adjusted its posture."}, {"action_text": "pick up the tennis ball on the storage cabinet and place it into the storage box", "start_frame": 1701, "end_frame": 2292, "skill": "PickAndPlace", "language_memory": "The robot has placed the tennis ball, yellow dice, and brown dice into the storage box and adjusted its posture."}, {"action_text": "aim at the cabinet", "start_frame": 2292, "end_frame": 2349, "skill": "Aim", "language_memory": "The robot has organized multiple toys, including tennis balls and dice, by picking them up from various locations and placing them into the storage box, while also adjusting its posture and moving to the right."}, {"action_text": "pick up the red dice and place it into the storage box", "start_frame": 2349, "end_frame": 2772, "skill": "PickAndPlace", "language_memory": "The robot has organized multiple toys, including tennis balls and dice, by picking them up and placing them into the storage box, while adjusting its posture and moving to the right."}, {"action_text": "close the storage box with the lid", "start_frame": 2772, "end_frame": 3256, "skill": "Close", "language_memory": "The robot has organized multiple toys, including tennis balls and dice of various colors, by picking them up from different locations and placing them into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the scattered toys by first picking up the tennis ball and placing it into the storage box, then adjusting the robot posture. Next, move to the right to access the yellow dice, pick it up, and place it in the box. Adjust the posture again, then pick up the brown dice and place it in the storage box. Aim at the cabinet, pick up the tennis ball located there, and place it into the box. Finally, pick up the red dice and place it in the storage box before closing the box with its lid."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 83, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000083.mp4", "length": 4094, "action_config": [{"action_text": "move to the green dice", "start_frame": 0, "end_frame": 232, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "move to the storage box", "start_frame": 232, "end_frame": 318, "skill": "Navigate", "language_memory": "The robot has moved to the green dice."}, {"action_text": "pick up the brown dice and place it into the storage box", "start_frame": 318, "end_frame": 724, "skill": "PickAndPlace", "language_memory": "The robot has moved to the green dice and the storage box."}, {"action_text": "pick up the red dice", "start_frame": 724, "end_frame": 1010, "skill": "Pick", "language_memory": "The robot moved to the green dice, then to the storage box, and placed the brown dice into the storage box."}, {"action_text": "place the red die into the storage box", "start_frame": 1010, "end_frame": 1282, "skill": "Place", "language_memory": "The robot has moved to the green dice and storage box, placed the brown dice into the storage box, and picked up the red dice."}, {"action_text": "pick up the green dice", "start_frame": 1282, "end_frame": 1501, "skill": "Pick", "language_memory": "The robot has moved to the green dice, placed the brown and red dice into the storage box."}, {"action_text": "pick up the green dice", "start_frame": 1501, "end_frame": 1554, "skill": "Pick", "language_memory": "The robot has moved to the green dice, navigated to the storage box, and successfully placed the brown and red dice inside the box."}, {"action_text": "aim at the storage box", "start_frame": 1554, "end_frame": 1630, "skill": "Aim", "language_memory": "The robot has moved to the green dice, navigated to the storage box, and successfully placed the brown and red dice inside the box."}, {"action_text": "place the green die into the storage box", "start_frame": 1630, "end_frame": 1746, "skill": "Place", "language_memory": "The robot has moved to the green dice, placed the brown and red dice into the storage box, and is currently holding the green dice while aiming at the storage box."}, {"action_text": "aim at the storage cabinet", "start_frame": 1746, "end_frame": 1884, "skill": "Aim", "language_memory": "The robot has organized the brown, red, and green dice by placing them into the storage box."}, {"action_text": "pick up the right tennis ball and place it into the storage box", "start_frame": 1884, "end_frame": 2375, "skill": "PickAndPlace", "language_memory": "The robot has organized the brown, red, and green dice into the storage box."}, {"action_text": "aim at the cabinet", "start_frame": 2375, "end_frame": 2478, "skill": "Aim", "language_memory": "The robot has organized the green dice, brown dice, red dice, and right tennis ball into the storage box."}, {"action_text": "pick up the tennis ball on the storage cabinet and place it into the storage box", "start_frame": 2478, "end_frame": 3013, "skill": "PickAndPlace", "language_memory": "The robot has organized the green, brown, and red dice and a tennis ball into the storage box."}, {"action_text": "pick up the storage box lid", "start_frame": 3013, "end_frame": 3428, "skill": "Pick", "language_memory": "The robot has organized the green dice, brown dice, red dice, and two tennis balls into the storage box."}, {"action_text": "close the storage box with the lid", "start_frame": 3428, "end_frame": 3963, "skill": "Close", "language_memory": "The robot has organized the green and brown dice, both red and green dice, and two tennis balls into the storage box and is currently holding the storage box lid."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by first moving to the green dice, then proceeding to the storage box. Pick up the brown dice and place it inside the box. Next, pick up the red dice and place it into the storage box. Retrieve the green dice and place it into the storage box as well. Then, pick up the right tennis ball and place it into the storage box. After that, pick up the tennis ball from the storage cabinet and place it into the storage box. Finally, pick up the storage box lid and close the box securely."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 84, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000084.mp4", "length": 3296, "action_config": [{"action_text": "pick up the brown dice and place it into the storage box", "start_frame": 0, "end_frame": 359, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the green dice and place it into the storage box", "start_frame": 359, "end_frame": 798, "skill": "PickAndPlace", "language_memory": "The brown dice has been placed into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 798, "end_frame": 891, "skill": "AdjustPosture", "language_memory": "The robot has placed the brown and green dice into the storage box."}, {"action_text": "pick up the tennis ball on the storage cabinet", "start_frame": 891, "end_frame": 1304, "skill": "Pick", "language_memory": "The robot has placed the brown and green dice into the storage box and adjusted its posture."}, {"action_text": "pick up the tennis ball from the storage cabinet and place it into the storage box", "start_frame": 1304, "end_frame": 1657, "skill": "PickAndPlace", "language_memory": "The robot has placed the brown and green dice into the storage box, adjusted its posture, and picked up the tennis ball from the storage cabinet."}, {"action_text": "aim at the cabinet", "start_frame": 1657, "end_frame": 1719, "skill": "Aim", "language_memory": "The robot has placed the brown and green dice into the storage box and transferred the tennis ball from the storage cabinet to the storage box."}, {"action_text": "pick up the red dice and place it into the storage box", "start_frame": 1719, "end_frame": 2096, "skill": "PickAndPlace", "language_memory": "The robot has placed the brown and green dice into the storage box, adjusted its posture, and moved the tennis ball from the storage cabinet to the storage box."}, {"action_text": "aim at the cabinet", "start_frame": 2096, "end_frame": 2233, "skill": "Aim", "language_memory": "The robot has organized the brown, green, and red dice and the tennis ball into the storage box."}, {"action_text": "pick up the yellow dice and place it into the storage box", "start_frame": 2233, "end_frame": 2718, "skill": "PickAndPlace", "language_memory": "The robot has organized the brown, green, and red dice and the tennis ball into the storage box."}, {"action_text": "close the storage box with the lid", "start_frame": 2718, "end_frame": 3211, "skill": "Close", "language_memory": "The robot has organized the brown, green, red, and yellow dice and the tennis ball into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by first adjusting the robot posture, then picking up the brown, green, red, and yellow dice from the storage cabinet and placing each into the storage box. Next, aim at the cabinet to pick up the tennis ball and place it into the storage box. Finally, close the storage box with the lid."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 85, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000085.mp4", "length": 2743, "action_config": [{"action_text": "move to the storage box lid", "start_frame": 0, "end_frame": 168, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the red dice and place it into the storage box", "start_frame": 168, "end_frame": 580, "skill": "PickAndPlace", "language_memory": "The robot has moved to the storage box lid."}, {"action_text": "pick up the right tennis ball", "start_frame": 580, "end_frame": 631, "skill": "Pick", "language_memory": "The robot moved to the storage box lid and placed the red dice inside the storage box."}, {"action_text": "pick up the rear tennis ball and place it into the storage box", "start_frame": 631, "end_frame": 894, "skill": "PickAndPlace", "language_memory": "The robot moved to the storage box lid, placed the red dice into the box, and picked up the right tennis ball."}, {"action_text": "pick up the tennis ball from the ground and place it into the storage box", "start_frame": 894, "end_frame": 1307, "skill": "PickAndPlace", "language_memory": "The robot moved to the storage box lid, placed the red dice into the box, and put both tennis balls into the storage box."}, {"action_text": "pick up the yellow dice and place it into the storage box", "start_frame": 1307, "end_frame": 1567, "skill": "PickAndPlace", "language_memory": "The robot has moved to the storage box lid and placed the red dice and three tennis balls into the storage box."}, {"action_text": "pick up the green dice and place it into the storage box", "start_frame": 1567, "end_frame": 1911, "skill": "PickAndPlace", "language_memory": "The robot has moved to the storage box lid and placed the red dice, right tennis ball, rear tennis ball, another tennis ball from the ground, and the yellow dice into the storage box."}, {"action_text": "pick up the brown dice", "start_frame": 1911, "end_frame": 2105, "skill": "Pick", "language_memory": "The robot has moved to the storage box lid and placed the red, yellow, and green dice along with three tennis balls into the storage box."}, {"action_text": "pick up the brown dice and the storage box lid", "start_frame": 2105, "end_frame": 2177, "skill": "Pick", "language_memory": "The robot has moved to the storage box lid and placed the red, yellow, and green dice, along with three tennis balls, into the storage box, while currently holding the brown dice."}, {"action_text": "close the storage box lid", "start_frame": 2177, "end_frame": 2308, "skill": "Close", "language_memory": "The robot has moved to the storage box lid, placed the red, yellow, and green dice into the box, and stored three tennis balls, while currently holding the brown dice and the storage box lid."}, {"action_text": "place the brown die into the storage box", "start_frame": 2308, "end_frame": 2338, "skill": "Place", "language_memory": "The robot organized toys by placing red, yellow, green, and brown dice along with three tennis balls into the storage box and closing the lid."}, {"action_text": "pick up the storage box lid", "start_frame": 2338, "end_frame": 2369, "skill": "Pick", "language_memory": "The robot has organized multiple toys, including red, yellow, green, and brown dice along with three tennis balls, by placing them into the storage box and closing the lid."}, {"action_text": "close the storage box with the lid", "start_frame": 2369, "end_frame": 2647, "skill": "Close", "language_memory": "The robot has organized multiple toys, including red, yellow, green, and brown dice along with three tennis balls, into the storage box and closed the lid."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Move to the storage box lid, then pick up the red dice and place it into the storage box. Next, pick up the right tennis ball, followed by the rear tennis ball and place it into the storage box. Then, pick up the tennis ball from the ground and place it into the storage box. After that, pick up the yellow dice and place it into the storage box, followed by the green dice and place it into the storage box. Pick up the brown dice and the storage box lid, close the storage box lid, place the brown die into the storage box, pick up the storage box lid, and finally close the storage box with the lid."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 86, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000086.mp4", "length": 3981, "action_config": [{"action_text": "pick up the tennis ball on the storage lid and place it into the storage box", "start_frame": 0, "end_frame": 594, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the green dice and place it into the storage box", "start_frame": 594, "end_frame": 1084, "skill": "PickAndPlace", "language_memory": "The tennis ball has been picked up from the storage lid and placed into the storage box."}, {"action_text": "pick up the tennis ball on the ground and place it into the storage box", "start_frame": 1084, "end_frame": 1340, "skill": "PickAndPlace", "language_memory": "The robot has placed the tennis ball and green dice into the storage box."}, {"action_text": "aim at the cabinet", "start_frame": 1340, "end_frame": 1458, "skill": "Aim", "language_memory": "The robot has placed the tennis balls and green dice into the storage box."}, {"action_text": "pick up the red dice", "start_frame": 1458, "end_frame": 1714, "skill": "Pick", "language_memory": "The robot has placed the tennis balls and green dice into the storage box and is currently aiming at the cabinet."}, {"action_text": "pick up the red dice and place it into the storage box", "start_frame": 1714, "end_frame": 2017, "skill": "PickAndPlace", "language_memory": "The robot has placed the tennis balls and green dice into the storage box and is currently holding the red dice while aiming at the cabinet."}, {"action_text": "aim at the storage cabinet", "start_frame": 2017, "end_frame": 2147, "skill": "Aim", "language_memory": "The robot has placed the tennis balls and red dice into the storage box and is currently aiming at the cabinet."}, {"action_text": "pick up the yellow dice and place it into the storage box", "start_frame": 2147, "end_frame": 2612, "skill": "PickAndPlace", "language_memory": "The robot has organized multiple toys, including tennis balls and red dice, by placing them into the storage box."}, {"action_text": "close the storage box with the lid", "start_frame": 2612, "end_frame": 3341, "skill": "Close", "language_memory": "The robot has organized multiple toys, including tennis balls and red, green, and yellow dice, by placing them into the storage box."}, {"action_text": "pick up the storage box lid", "start_frame": 3341, "end_frame": 3571, "skill": "Pick", "language_memory": "The robot organized toys by placing a tennis ball, green dice, red dice, and yellow dice into the storage box and then closed the box with the lid."}, {"action_text": "close the storage box with the lid", "start_frame": 3571, "end_frame": 3848, "skill": "Close", "language_memory": "The robot organized toys by picking up tennis balls and dice from the storage lid, ground, and cabinet, placing them into the storage box, and closing the box with its lid."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the scattered toys by first picking up the tennis ball from the storage lid and placing it into the storage box, followed by the green dice. Next, retrieve the second tennis ball from the ground and place it in the box. Aim at the cabinet to locate the red dice, pick them up, and place them into the storage box. Then, aim at the storage cabinet again to find the yellow dice, pick them up, and place them in the box. Finally, pick up the storage box lid and close the box securely."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 87, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000087.mp4", "length": 4186, "action_config": [{"action_text": "pick up the red dice and place it into the storage box", "start_frame": 0, "end_frame": 637, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the brown dice", "start_frame": 637, "end_frame": 1215, "skill": "Pick", "language_memory": "The red dice has been placed into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 1215, "end_frame": 1269, "skill": "Aim", "language_memory": "The red dice has been placed in the storage box, and the brown dice is currently being picked up."}, {"action_text": "pick up the brown dice and place it into the storage box", "start_frame": 1269, "end_frame": 1433, "skill": "PickAndPlace", "language_memory": "The robot has placed the red dice into the storage box and is currently holding the brown dice."}, {"action_text": "aim at the cabinet", "start_frame": 1433, "end_frame": 1541, "skill": "Aim", "language_memory": "The robot has placed the red dice and the brown dice into the storage box."}, {"action_text": "pick up the yellow dice and place it into the storage box", "start_frame": 1541, "end_frame": 2005, "skill": "PickAndPlace", "language_memory": "The robot has placed the red dice and the brown dice into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 2005, "end_frame": 2064, "skill": "AdjustPosture", "language_memory": "The robot has placed the red, brown, and yellow dice into the storage box."}, {"action_text": "pick up the right tennis ball and place it into the storage box", "start_frame": 2064, "end_frame": 2612, "skill": "PickAndPlace", "language_memory": "The robot has organized the red, brown, and yellow dice by placing them into the storage box."}, {"action_text": "aim at the cabinet", "start_frame": 2612, "end_frame": 2676, "skill": "Aim", "language_memory": "The robot has organized the red, brown, and yellow dice along with the right tennis ball into the storage box."}, {"action_text": "pick up the green dice and place it into the storage box", "start_frame": 2676, "end_frame": 3109, "skill": "PickAndPlace", "language_memory": "The robot has organized red, brown, and yellow dice along with a tennis ball into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 3109, "end_frame": 3164, "skill": "AdjustPosture", "language_memory": "The robot has organized multiple dice and a tennis ball by picking them up and placing them into the storage box."}, {"action_text": "pick up the tennis ball on the storage cabinet and place it into the storage box", "start_frame": 3164, "end_frame": 3638, "skill": "PickAndPlace", "language_memory": "The robot has organized multiple dice and a tennis ball into the storage box."}, {"action_text": "close the storage box with the lid", "start_frame": 3638, "end_frame": 4099, "skill": "Close", "language_memory": "The robot has organized multiple dice and tennis balls by picking them up from various locations and placing them into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the scattered toys by first picking up the red dice and placing it into the storage box. Next, aim at the cabinet, pick up the brown dice, and place it into the storage box. Then, aim at the cabinet again, pick up the yellow dice, and place it into the storage box. Adjust the robot posture, pick up the right tennis ball, and place it into the storage box. Adjust the robot posture once more, pick up the tennis ball from the storage cabinet, and place it into the storage box. Finally, close the storage box with the lid."]}
{"task_id": "Organize_Toys_20250628_002", "episode_index": 88, "video_path": "Organize_Toys_20250628_002/videos/chunk-000/{video_key}/episode_000088.mp4", "length": 2057, "action_config": [{"action_text": "pick up the tennis ball and place it into the storage box", "start_frame": 0, "end_frame": 273, "skill": "PickAndPlace", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the tennis ball and place it into the storage box", "start_frame": 273, "end_frame": 519, "skill": "PickAndPlace", "language_memory": "The tennis ball has been placed into the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 519, "end_frame": 599, "skill": "AdjustPosture", "language_memory": "The robot has placed the tennis ball into the storage box."}, {"action_text": "pick up the red dice", "start_frame": 599, "end_frame": 771, "skill": "Pick", "language_memory": "The robot has placed the tennis ball into the storage box and adjusted its posture."}, {"action_text": "aim at the storage box", "start_frame": 771, "end_frame": 867, "skill": "Aim", "language_memory": "The robot has placed the tennis ball into the storage box and picked up the red dice."}, {"action_text": "place the red die into the storage box", "start_frame": 867, "end_frame": 947, "skill": "Place", "language_memory": "The robot has placed the tennis ball into the storage box, adjusted its posture, and picked up the red dice while aiming at the storage box."}, {"action_text": "adjust the robot posture", "start_frame": 947, "end_frame": 1016, "skill": "AdjustPosture", "language_memory": "The robot has placed the tennis ball and red dice into the storage box."}, {"action_text": "pick up the brown dice", "start_frame": 1016, "end_frame": 1190, "skill": "Pick", "language_memory": "The robot has placed the tennis ball and red die into the storage box."}, {"action_text": "aim at the storage box", "start_frame": 1190, "end_frame": 1303, "skill": "Aim", "language_memory": "The robot has organized the tennis ball and red dice into the storage box and is currently holding the brown dice."}, {"action_text": "place the brown die into the storage box", "start_frame": 1303, "end_frame": 1466, "skill": "Place", "language_memory": "The robot has organized the tennis ball and red dice into the storage box and is currently aiming to place the brown dice."}, {"action_text": "close the storage box", "start_frame": 1466, "end_frame": 1897, "skill": "Close", "language_memory": "The robot has organized the tennis ball, red dice, and brown dice into the storage box."}], "tasks": ["organize toys"], "detailed_task_instruction": ["Organize the toys by first picking up the tennis ball and placing it into the storage box, then adjusting the robot posture. Next, pick up the red dice, aim at the storage box, and place the red die inside. Adjust the robot posture again, pick up the brown dice, aim at the storage box, and place the brown die inside. Finally, close the storage box to complete the organization."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 0, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000000.mp4", "length": 2443, "action_config": [{"action_text": "pick up the kettle on the table", "start_frame": 0, "end_frame": 242, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pour the water from the kettle into the cup on the right side of the table", "start_frame": 242, "end_frame": 372, "skill": "Pour", "language_memory": "The robot has picked up the kettle from the table."}, {"action_text": "place the kettle on the base", "start_frame": 372, "end_frame": 622, "skill": "Place", "language_memory": "The robot has picked up the kettle and poured water into the cup on the right side of the table."}, {"action_text": "pick up the cup on the left side of the table and place it next to the kettle", "start_frame": 622, "end_frame": 922, "skill": "PickAndPlace", "language_memory": "The robot picked up the kettle, poured water into the cup, and placed the kettle back on its base."}, {"action_text": "pick up the kettle on the table", "start_frame": 922, "end_frame": 1047, "skill": "Pick", "language_memory": "The robot picked up the kettle, poured water into a cup, returned the kettle to its base, and moved another cup next to the kettle."}, {"action_text": "pour the water from the kettle into the cup on the left side of the table", "start_frame": 1047, "end_frame": 1188, "skill": "Pour", "language_memory": "The robot picked up the kettle, poured water into a cup, returned the kettle to its base, moved a cup next to the kettle, and picked up the kettle again."}, {"action_text": "place the kettle on the base", "start_frame": 1188, "end_frame": 1420, "skill": "Place", "language_memory": "The robot picked up the kettle, poured water into the cup on the right, placed the kettle on its base, moved the cup to the left of the kettle, picked up the kettle again, and poured water into the cup on the left side of the table."}, {"action_text": "pick up the water cup on the left side of the table", "start_frame": 1420, "end_frame": 1634, "skill": "Pick", "language_memory": "The robot picked up the kettle, poured water into the cup on the right, returned the kettle to the base, moved the left cup next to the kettle, picked up the kettle again, poured water into the left cup, and placed the kettle back on the base."}, {"action_text": "pour the water from the cup into the sink", "start_frame": 1634, "end_frame": 1775, "skill": "Pour", "language_memory": "The robot picked up the kettle, poured water into cups on both sides of the table, returned the kettle to its base, and finally picked up the water cup from the left side."}, {"action_text": "place the cup on the left side of the table", "start_frame": 1775, "end_frame": 1911, "skill": "Place", "language_memory": "The robot picked up the kettle, poured water into cups on both sides of the table, returned the kettle to its base, moved a cup next to the kettle, and finally poured the water from the cup into the sink."}, {"action_text": "pick up the water cup on the right side of the table", "start_frame": 1911, "end_frame": 2041, "skill": "Pick", "language_memory": "The robot picked up the kettle, poured water into cups on both sides of the table, returned the kettle to its base, moved a cup next to the kettle, poured water from the left cup into the sink, and placed the cup back on the left side of the table."}, {"action_text": "pour the water from the cup into the sink", "start_frame": 2041, "end_frame": 2187, "skill": "Pour", "language_memory": "The robot picked up the kettle, poured water into cups on both sides of the table, returned the kettle to its base, moved a cup next to the kettle, poured water from the left cup into the sink, and finally picked up the cup on the right side of the table."}, {"action_text": "place the cup on the right side of the table", "start_frame": 2187, "end_frame": 2443, "skill": "Place", "language_memory": "The robot picked up the kettle twice to pour water into cups on both sides of the table, placed the kettle on its base, and emptied both cups into the sink before returning them to the table."}], "tasks": ["pour water"], "detailed_task_instruction": ["Pick up the kettle from the table and pour water into the cup on the right side, then return the kettle to its base. Next, move the cup from the left side of the table to beside the kettle. Retrieve the kettle again to fill the cup now on the left side, and place the kettle back on the base. Finally, empty the water from both cups into the sink and return each cup to its original position on the left and right sides of the table."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 1, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000001.mp4", "length": 1843, "action_config": [{"action_text": "pick up the kettle on the table", "start_frame": 0, "end_frame": 361, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pour the water from the kettle into the cup on the table", "start_frame": 361, "end_frame": 579, "skill": "Pour", "language_memory": "The robot has picked up the kettle from the table."}, {"action_text": "pour the water from the kettle into the cup on the lower side of the table", "start_frame": 579, "end_frame": 760, "skill": "Pour", "language_memory": "The robot has picked up the kettle and poured water into the cup."}, {"action_text": "place the kettle on the base on the right side of the table", "start_frame": 760, "end_frame": 1024, "skill": "Place", "language_memory": "The robot picked up the kettle and poured water into the cup on the table and the cup on the lower side of the table."}, {"action_text": "pick up the water cup under the table", "start_frame": 1024, "end_frame": 1287, "skill": "Pick", "language_memory": "The robot picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base."}, {"action_text": "pour the water from the cup into the plastic box on the left", "start_frame": 1287, "end_frame": 1377, "skill": "Pour", "language_memory": "The robot picked up the kettle, poured water into the cup on the table and under the table, placed the kettle on its base, and picked up the water cup."}, {"action_text": "place the water cup under the table", "start_frame": 1377, "end_frame": 1445, "skill": "Place", "language_memory": "The robot picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, picked up a cup under the table, and poured the water into a plastic box on the left."}, {"action_text": "pick up the water cup on the table", "start_frame": 1445, "end_frame": 1564, "skill": "Pick", "language_memory": "The robot picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, picked up a cup under the table, poured its contents into a plastic box, and returned the cup under the table."}, {"action_text": "pour the water from the cup into the plastic box on the left", "start_frame": 1564, "end_frame": 1668, "skill": "Pour", "language_memory": "The robot picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, transferred water from a cup under the table into a plastic box, and finally picked up a water cup on the table."}, {"action_text": "place the water cup on the table", "start_frame": 1668, "end_frame": 1843, "skill": "Place", "language_memory": "The robot picked up the kettle and poured water into cups on the table and under the table, placed the kettle on its base, and transferred water from cups into a plastic box on the left."}], "tasks": ["pour water"], "detailed_task_instruction": ["Pick up the kettle from the table and pour water into the cup on the table, then pour more water into the cup located on the lower side of the table. Place the kettle on its base to the right side of the table. Retrieve the water cup from under the table and pour its contents into the plastic box on the left, then return the cup under the table. Finally, pick up the water cup from the table and pour its contents into the plastic box on the left before placing the cup back on the table."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 2, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000002.mp4", "length": 2106, "action_config": [{"action_text": "move to the table", "start_frame": 0, "end_frame": 128, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle on the table", "start_frame": 128, "end_frame": 323, "skill": "Pick", "language_memory": "The robot has moved to the table."}, {"action_text": "pour the water from the kettle into the cup on the lower side of the table", "start_frame": 323, "end_frame": 486, "skill": "Pour", "language_memory": "The robot has moved to the table and picked up the kettle."}, {"action_text": "pour the water from the kettle into the cup on the table", "start_frame": 486, "end_frame": 614, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup."}, {"action_text": "place the kettle onto the base on the right side of the table", "start_frame": 614, "end_frame": 937, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into two cups on the table."}, {"action_text": "move to the water cup", "start_frame": 937, "end_frame": 1116, "skill": "Navigate", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups, and placed the kettle back on its base."}, {"action_text": "pick up the water cup on the lower side of the table", "start_frame": 1116, "end_frame": 1345, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups, and placed the kettle back on its base."}, {"action_text": "pour the water from the cup into the plastic box", "start_frame": 1345, "end_frame": 1505, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups, placed the kettle back on its base, and picked up the water cup from the lower side of the table."}, {"action_text": "place the cup under the table", "start_frame": 1505, "end_frame": 1638, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups, placed the kettle back on its base, picked up one of the cups, and poured the water from that cup into a plastic box."}, {"action_text": "pick up the water cup on the table", "start_frame": 1638, "end_frame": 1721, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups, placed the kettle on its base, picked up one cup, poured its contents into a plastic box, and placed the cup under the table."}, {"action_text": "pour the water from the cup into the plastic box", "start_frame": 1721, "end_frame": 1828, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups, placed the kettle on its base, picked up one cup to pour water into a plastic box, placed that cup under the table, and finally picked up the second cup."}, {"action_text": "place the cup on the table", "start_frame": 1828, "end_frame": 1989, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups, placed the kettle on its base, then picked up both cups to pour their contents into a plastic box."}], "tasks": ["pour water"], "detailed_task_instruction": ["Move to the table, pick up the kettle, and pour water into the cup on the lower side of the table, then pour water from that same kettle into the cup on the table. Place the kettle onto its base on the right side of the table. Move to the water cup, pick up the cup from the lower side of the table, and pour its contents into the plastic box. Place the cup under the table. Next, pick up the water cup from the table and pour its contents into the plastic box. Finally, place the cup back on the table."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 3, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000003.mp4", "length": 2089, "action_config": [{"action_text": "move to the table", "start_frame": 0, "end_frame": 196, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle on the table", "start_frame": 196, "end_frame": 396, "skill": "Pick", "language_memory": "The robot has moved to the table."}, {"action_text": "pour the water from the kettle into the cup on the table", "start_frame": 396, "end_frame": 553, "skill": "Pour", "language_memory": "The robot has moved to the table and picked up the kettle."}, {"action_text": "pour the water from the kettle into the cup on the lower side of the table", "start_frame": 553, "end_frame": 807, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup."}, {"action_text": "place the kettle on the base on the right side of the table", "start_frame": 807, "end_frame": 1069, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup on the table and the lower side of the table."}, {"action_text": "move to the water cup", "start_frame": 1069, "end_frame": 1148, "skill": "Navigate", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base."}, {"action_text": "pick up the water cup under the table", "start_frame": 1148, "end_frame": 1314, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle on its base, and moved to the water cup."}, {"action_text": "pour the water from the cup into the left plastic box", "start_frame": 1314, "end_frame": 1464, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, and picked up the water cup under the table."}, {"action_text": "place the water cup under the table", "start_frame": 1464, "end_frame": 1598, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on and under the table, placed the kettle on its base, picked up a water cup from under the table, and poured its contents into a left plastic box."}, {"action_text": "pick up the water cup on the table", "start_frame": 1598, "end_frame": 1732, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on and under the table, placed the kettle on its base, picked up a water cup from under the table, and poured its contents into a plastic box before placing the cup back under the table."}, {"action_text": "pour the water from the cup into the left plastic box", "start_frame": 1732, "end_frame": 1864, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, moved to the water cup, picked up the cup under the table, poured water into a plastic box, placed the cup under the table, and picked up the water cup on the table."}, {"action_text": "place the water cup on the table", "start_frame": 1864, "end_frame": 2021, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on and under the table, placed the kettle on its base, and transferred water from cups into a left plastic box."}], "tasks": ["pour water"], "detailed_task_instruction": ["Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle on its base on the right side of the table. Next, move to the water cup, pick up the cup under the table, and pour its contents into the left plastic box before placing the cup back under the table. Finally, pick up the water cup on the table and pour its contents into the left plastic box, then place the cup back on the table."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 4, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000004.mp4", "length": 1960, "action_config": [{"action_text": "move to the table", "start_frame": 0, "end_frame": 53, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle on the table", "start_frame": 53, "end_frame": 170, "skill": "Pick", "language_memory": "The robot has moved to the table."}, {"action_text": "pour the water from the kettle into the cup on the table", "start_frame": 170, "end_frame": 336, "skill": "Pour", "language_memory": "The robot has moved to the table and picked up the kettle."}, {"action_text": "pour the water from the kettle into the cup on the lower side of the table", "start_frame": 336, "end_frame": 479, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup."}, {"action_text": "place the kettle onto the base on the right side of the table", "start_frame": 479, "end_frame": 662, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup on the table and the lower side of the table."}, {"action_text": "move to the water cup", "start_frame": 662, "end_frame": 829, "skill": "Navigate", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base."}, {"action_text": "pick up the water cup on the lower side of the table", "start_frame": 829, "end_frame": 1014, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and moved to the water cup."}, {"action_text": "pour the water from the cup into the plastic box", "start_frame": 1014, "end_frame": 1194, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and picked up the water cup from the lower side of the table."}, {"action_text": "place the cup under the table", "start_frame": 1194, "end_frame": 1373, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and its lower side, placed the kettle on its base, picked up a cup from the lower side, and poured the water into a plastic box."}, {"action_text": "pick up the water cup on the table", "start_frame": 1373, "end_frame": 1495, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up the cup from the lower side, poured the water into a plastic box, and placed the cup under the table."}, {"action_text": "pour the water cup into the left plastic box", "start_frame": 1495, "end_frame": 1608, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up the lower cup, poured its contents into a plastic box, placed the cup under the table, and finally picked up the water cup on the table."}, {"action_text": "place the water cup on the table", "start_frame": 1608, "end_frame": 1877, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up both cups, and poured their contents into plastic boxes."}], "tasks": ["pour water"], "detailed_task_instruction": ["Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle onto its base on the right side of the table. Move to the lower cup, pick it up, and pour its contents into the plastic box before placing the cup under the table. Next, pick up the water cup on the table and pour its contents into the left plastic box. Finally, place the water cup back on the table."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 5, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000005.mp4", "length": 1925, "action_config": [{"action_text": "move to the table", "start_frame": 0, "end_frame": 203, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle on the table", "start_frame": 203, "end_frame": 316, "skill": "Pick", "language_memory": "The robot has moved to the table."}, {"action_text": "pour the water from the kettle into the cup on the table", "start_frame": 316, "end_frame": 482, "skill": "Pour", "language_memory": "The robot has moved to the table and picked up the kettle."}, {"action_text": "pour the water from the kettle into the cup on the lower side of the table", "start_frame": 482, "end_frame": 616, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup."}, {"action_text": "place the kettle on the base on the right side of the table", "start_frame": 616, "end_frame": 848, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup on the table and the lower side of the table."}, {"action_text": "move to the water cup", "start_frame": 848, "end_frame": 1079, "skill": "Navigate", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base."}, {"action_text": "pick up the water cup under the table", "start_frame": 1079, "end_frame": 1234, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle on its base, and moved to the water cup."}, {"action_text": "pour the water from the cup into the plastic box on the left", "start_frame": 1234, "end_frame": 1334, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, and picked up the water cup under the table."}, {"action_text": "place the water cup under the table", "start_frame": 1334, "end_frame": 1451, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, moved to the water cup, picked up the cup under the table, and poured the water into a plastic box on the left."}, {"action_text": "pick up the water cup on the table", "start_frame": 1451, "end_frame": 1525, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, picked up the water cup under the table, poured the water into a plastic box on the left, and placed the cup back under the table."}, {"action_text": "pour the water from the cup into the plastic box on the left", "start_frame": 1525, "end_frame": 1648, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, moved to the water cup, picked up the cup under the table, poured water into a plastic box, placed the cup under the table, and picked up the water cup on the table."}, {"action_text": "place the cup on the table", "start_frame": 1648, "end_frame": 1833, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, and transferred water from cups into a plastic box on the left."}], "tasks": ["pour water"], "detailed_task_instruction": ["Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle on its base on the right side of the table. Move to the water cup under the table, pick it up, and pour its contents into the plastic box on the left. Return the cup to its position under the table. Finally, pick up the water cup on the table, pour its contents into the plastic box on the left, and place the cup back on the table."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 6, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000006.mp4", "length": 1860, "action_config": [{"action_text": "move to the table", "start_frame": 0, "end_frame": 138, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle on the table", "start_frame": 138, "end_frame": 344, "skill": "Pick", "language_memory": "The robot has moved to the table."}, {"action_text": "pour the water from the kettle into the cup on the table", "start_frame": 344, "end_frame": 514, "skill": "Pour", "language_memory": "The robot has moved to the table and picked up the kettle."}, {"action_text": "pour the water from the kettle into the cup on the lower side of the table", "start_frame": 514, "end_frame": 692, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup."}, {"action_text": "place the kettle on the base on the right side of the table", "start_frame": 692, "end_frame": 868, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup on the table and the lower side of the table."}, {"action_text": "move to the water cup", "start_frame": 868, "end_frame": 1081, "skill": "Navigate", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base."}, {"action_text": "pick up the water cup on the lower side of the table", "start_frame": 1081, "end_frame": 1235, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle on its base, and moved to the water cup."}, {"action_text": "pour the water from the cup into the left plastic box", "start_frame": 1235, "end_frame": 1324, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and picked up the water cup from the lower side of the table."}, {"action_text": "place the water cup under the table", "start_frame": 1324, "end_frame": 1421, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and its lower side, placed the kettle on its base, picked up a cup from the lower side, and poured the water into a left plastic box."}, {"action_text": "pick up the water cup on the upper side of the table", "start_frame": 1421, "end_frame": 1530, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up the water cup from the lower side, poured the water into a left plastic box, and placed the cup under the table."}, {"action_text": "pour the water from the cup into the plastic box on the left", "start_frame": 1530, "end_frame": 1603, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to the water cup, picked up the cup from the lower side, poured water into the left plastic box, placed the cup under the table, and picked up the water cup on the upper side of the table."}, {"action_text": "place the water cup on the table", "start_frame": 1603, "end_frame": 1759, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up cups from the lower and upper sides of the table, and poured water from both cups into the left plastic box."}], "tasks": ["pour water"], "detailed_task_instruction": ["Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle on its base on the right side of the table. Next, move to the water cup on the lower side of the table, pick it up, and pour its contents into the left plastic box before placing the cup under the table. Finally, pick up the water cup on the upper side of the table, pour its contents into the plastic box on the left, and place the cup back on the table."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 7, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000007.mp4", "length": 1294, "action_config": [{"action_text": "pick up the kettle on the table", "start_frame": 0, "end_frame": 127, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pour the water from the kettle into the cup on the table", "start_frame": 127, "end_frame": 279, "skill": "Pour", "language_memory": "The robot has picked up the kettle from the table."}, {"action_text": "pour the water from the kettle into the cup on the lower side of the table", "start_frame": 279, "end_frame": 394, "skill": "Pour", "language_memory": "The robot has picked up the kettle and poured water into the cup."}, {"action_text": "place the kettle onto the base on the right side of the table", "start_frame": 394, "end_frame": 504, "skill": "Place", "language_memory": "The robot picked up the kettle and poured water into the cup on the table and the cup on the lower side of the table."}, {"action_text": "move to the water cup", "start_frame": 504, "end_frame": 579, "skill": "Navigate", "language_memory": "The robot picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base."}, {"action_text": "pick up the water cup on the table", "start_frame": 579, "end_frame": 670, "skill": "Pick", "language_memory": "The robot picked up the kettle, poured water into the cup on the table and the lower side of the table, and placed the kettle back on its base."}, {"action_text": "pour the water cup into the left plastic box", "start_frame": 670, "end_frame": 784, "skill": "Pour", "language_memory": "The robot picked up the kettle, poured water into the cup on the table and the lower side of the table, placed the kettle on its base, and then picked up the water cup."}, {"action_text": "place the water cup on the table", "start_frame": 784, "end_frame": 858, "skill": "Place", "language_memory": "The robot picked up the kettle, poured water into cups on the table and a lower side, placed the kettle on its base, moved to the water cup, picked it up, and poured its contents into a left plastic box."}, {"action_text": "pick up the water cup on the lower side of the table", "start_frame": 858, "end_frame": 1021, "skill": "Pick", "language_memory": "The robot picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to the water cup, picked it up, poured its contents into a left plastic box, and placed the cup back on the table."}, {"action_text": "pour the water cup into the left plastic box", "start_frame": 1021, "end_frame": 1128, "skill": "Pour", "language_memory": "The robot picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to and picked up a water cup, poured its contents into a left plastic box, placed the cup back on the table, and finally picked up another water cup from the lower side of the table."}, {"action_text": "place the cup under the table", "start_frame": 1128, "end_frame": 1197, "skill": "Place", "language_memory": "The robot picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, and transferred water from both cups into the left plastic box."}], "tasks": ["pour water"], "detailed_task_instruction": ["Pick up the kettle from the table and pour water into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle onto its base on the right side of the table. Move to the water cup on the table, pick it up, and pour its contents into the left plastic box before placing the cup back on the table. Next, pick up the water cup from the lower side of the table, pour its contents into the left plastic box, and finally place the cup under the table."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 8, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000008.mp4", "length": 1449, "action_config": [{"action_text": "pick up the kettle on the table", "start_frame": 0, "end_frame": 136, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pour the water from the kettle into the cup on the table", "start_frame": 136, "end_frame": 276, "skill": "Pour", "language_memory": "The robot has picked up the kettle from the table."}, {"action_text": "pour the water from the kettle into the cup on the lower side of the table", "start_frame": 276, "end_frame": 357, "skill": "Pour", "language_memory": "The robot has picked up the kettle and poured water into the cup."}, {"action_text": "place the kettle onto the base on the right side of the table", "start_frame": 357, "end_frame": 603, "skill": "Place", "language_memory": "The robot picked up the kettle and poured water into the cup on the table and the cup on the lower side of the table."}, {"action_text": "pick up the cup under the table", "start_frame": 603, "end_frame": 760, "skill": "Pick", "language_memory": "The robot picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base."}, {"action_text": "pour the water from the right-hand cup into the left plastic box", "start_frame": 760, "end_frame": 916, "skill": "Pour", "language_memory": "The robot picked up the kettle, poured water into the cup on the table and under the table, placed the kettle on its base, and picked up the cup under the table."}, {"action_text": "place the cup on the lower side of the table", "start_frame": 916, "end_frame": 1009, "skill": "Place", "language_memory": "The robot picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, picked up a cup from under the table, and poured its contents into a plastic box."}, {"action_text": "pick up the water cup on the table", "start_frame": 1009, "end_frame": 1154, "skill": "Pick", "language_memory": "The robot picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, transferred water from a cup into a plastic box, and placed the cup on the lower side of the table."}, {"action_text": "pour the water from the right-hand cup into the left plastic box", "start_frame": 1154, "end_frame": 1264, "skill": "Pour", "language_memory": "The robot picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, transferred water from a cup into a plastic box, and finally picked up a water cup from the table."}, {"action_text": "place the cup on the table", "start_frame": 1264, "end_frame": 1378, "skill": "Place", "language_memory": "The robot picked up the kettle and poured water into cups on the table and under the table, placed the kettle on its base, transferred water from cups into a plastic box, and positioned the cups on the table and under the table."}], "tasks": ["pour water"], "detailed_task_instruction": ["Pick up the kettle from the table and pour water into the cup on the table. Then, pour water from the kettle into the cup located on the lower side of the table. Place the kettle onto its base on the right side of the table. Next, pick up the cup from under the table and pour its contents into the left plastic box. Place this cup on the lower side of the table. Finally, pick up the water cup on the table and pour its contents into the left plastic box, then place the cup back on the table."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 9, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000009.mp4", "length": 1246, "action_config": [{"action_text": "pick up the kettle on the table", "start_frame": 0, "end_frame": 148, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pour the water from the kettle into the cup on the table", "start_frame": 148, "end_frame": 274, "skill": "Pour", "language_memory": "The robot has picked up the kettle from the table."}, {"action_text": "place the kettle on the base on the right side of the table", "start_frame": 274, "end_frame": 369, "skill": "Place", "language_memory": "The robot has picked up the kettle and poured water into the cup."}, {"action_text": "pick up the kettle on the table", "start_frame": 369, "end_frame": 514, "skill": "Pick", "language_memory": "The robot picked up the kettle, poured water into the cup, and placed the kettle back on its base."}, {"action_text": "pour the water from the kettle into the cup on the lower side of the table", "start_frame": 514, "end_frame": 613, "skill": "Pour", "language_memory": "The robot picked up the kettle, poured water into a cup, and returned the kettle to its base."}, {"action_text": "place the kettle onto the base on the right side of the table", "start_frame": 613, "end_frame": 735, "skill": "Place", "language_memory": "The robot picked up the kettle, poured water into the cup on the table, placed the kettle on its base, and subsequently poured additional water into the cup on the lower side of the table."}, {"action_text": "move to the water cup", "start_frame": 735, "end_frame": 777, "skill": "Navigate", "language_memory": "The robot picked up the kettle, poured water into two different cups on the table, and returned the kettle to its base twice."}, {"action_text": "pick up the water cup on the lower side of the table", "start_frame": 777, "end_frame": 877, "skill": "Pick", "language_memory": "The robot picked up the kettle, poured water into two cups on the table, and returned the kettle to its base twice before moving toward a water cup."}, {"action_text": "pour the water from the cup into the plastic box", "start_frame": 877, "end_frame": 944, "skill": "Pour", "language_memory": "The robot has picked up the kettle twice to pour water into two different cups on the table and returned the kettle to its base on the right side, and has moved to and picked up the water cup located on the lower side of the table."}, {"action_text": "place the cup under the table", "start_frame": 944, "end_frame": 1009, "skill": "Place", "language_memory": "The robot picked up the kettle, poured water into cups on the table and lower side, returned the kettle to its base, moved to the lower cup, picked it up, and poured the water into a plastic box."}, {"action_text": "pick up the water cup on the table", "start_frame": 1009, "end_frame": 1062, "skill": "Pick", "language_memory": "The robot picked up the kettle, poured water into a cup, and returned the kettle to its base; subsequently, it transferred water from the cup into a plastic box and placed the empty cup under the table."}, {"action_text": "pour the water cup into the left plastic box", "start_frame": 1062, "end_frame": 1117, "skill": "Pour", "language_memory": "The robot picked up the kettle, poured water into cups on the table and lower side, returned the kettle to its base, moved to the lower cup, transferred its contents to a plastic box, placed the cup under the table, and finally picked up the water cup on the table."}, {"action_text": "place the water cup on the table", "start_frame": 1117, "end_frame": 1193, "skill": "Place", "language_memory": "The robot picked up the kettle twice to pour water into cups on the table and lower side of the table, placed the kettle on the base, moved to and picked up the water cups, poured water from the cups into plastic boxes, and placed one cup under the table."}], "tasks": ["pour water"], "detailed_task_instruction": ["Pick up the kettle from the table and pour water into the cup on the table, then place the kettle on its base to the right. Repeat this process to fill the cup located on the lower side of the table, returning the kettle to the base afterward. Move to the water cup on the lower side, pick it up, and pour its contents into the plastic box before placing the cup under the table. Next, pick up the water cup from the table and pour its contents into the left plastic box, finally placing the cup back on the table."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 10, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000010.mp4", "length": 1876, "action_config": [{"action_text": "move to the table", "start_frame": 0, "end_frame": 98, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle on the table", "start_frame": 98, "end_frame": 261, "skill": "Pick", "language_memory": "The robot has moved to the table."}, {"action_text": "pour the water from the kettle into the cup on the table", "start_frame": 261, "end_frame": 427, "skill": "Pour", "language_memory": "The robot has moved to the table and picked up the kettle."}, {"action_text": "pour the water from the kettle into the cup on the lower side of the table", "start_frame": 427, "end_frame": 559, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup."}, {"action_text": "place the kettle onto the base on the right side of the table", "start_frame": 559, "end_frame": 874, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup on the table and the lower side of the table."}, {"action_text": "move to the water cup", "start_frame": 874, "end_frame": 1061, "skill": "Navigate", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base."}, {"action_text": "pick up the water cup under the table", "start_frame": 1061, "end_frame": 1249, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and moved to the water cup."}, {"action_text": "pour the water from the cup into the left plastic box", "start_frame": 1249, "end_frame": 1347, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, and picked up the water cup under the table."}, {"action_text": "place the water cup under the table", "start_frame": 1347, "end_frame": 1441, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on and under the table, placed the kettle on its base, picked up a water cup from under the table, and poured its contents into a left plastic box."}, {"action_text": "pick up the water cup on the table", "start_frame": 1441, "end_frame": 1537, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on and under the table, placed the kettle on its base, picked up a water cup from under the table, poured its contents into a left plastic box, and returned the cup under the table."}, {"action_text": "pour the water from the cup into the left plastic box", "start_frame": 1537, "end_frame": 1622, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, moved to the water cup, picked up the cup under the table, poured water into the left plastic box, placed the cup under the table, and picked up the water cup on the table."}, {"action_text": "place the water cup on the table", "start_frame": 1622, "end_frame": 1784, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on and under the table, placed the kettle on its base, and transferred water from cups into a left plastic box."}], "tasks": ["pour water"], "detailed_task_instruction": ["Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle onto its base on the right side of the table. Next, move to the water cup, pick up the cup under the table, and pour its contents into the left plastic box before placing the cup back under the table. Finally, pick up the water cup on the table and pour its contents into the left plastic box, then place the cup back on the table."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 11, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000011.mp4", "length": 1721, "action_config": [{"action_text": "move to the table", "start_frame": 0, "end_frame": 82, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle on the table", "start_frame": 82, "end_frame": 247, "skill": "Pick", "language_memory": "The robot has moved to the table."}, {"action_text": "pour the water from the kettle into the cup on the table", "start_frame": 247, "end_frame": 408, "skill": "Pour", "language_memory": "The robot has moved to the table and picked up the kettle."}, {"action_text": "pour the water from the kettle into the cup on the lower side of the table", "start_frame": 408, "end_frame": 552, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup."}, {"action_text": "place the kettle onto the base on the right side of the table", "start_frame": 552, "end_frame": 693, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup on the table and the lower side of the table."}, {"action_text": "move to the water cup", "start_frame": 693, "end_frame": 925, "skill": "Navigate", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base."}, {"action_text": "pick up the water cup under the table", "start_frame": 925, "end_frame": 1101, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and moved to the water cup."}, {"action_text": "pour the water from the cup into the plastic box on the left", "start_frame": 1101, "end_frame": 1195, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, and picked up the water cup under the table."}, {"action_text": "place the water cup under the table", "start_frame": 1195, "end_frame": 1284, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, moved to the water cup, picked up the cup under the table, and poured the water into a plastic box on the left."}, {"action_text": "pick up the water cup on the upper side of the table", "start_frame": 1284, "end_frame": 1365, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, picked up the water cup under the table, poured the water into a plastic box on the left, and placed the cup back under the table."}, {"action_text": "pour the water from the cup into the left plastic box", "start_frame": 1365, "end_frame": 1475, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, moved to the water cup, picked up the cup under the table, poured water into a plastic box, placed the cup back under the table, and finally picked up the water cup on the upper side of the table."}, {"action_text": "place the water cup on the table", "start_frame": 1475, "end_frame": 1638, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, picked up cups from both locations, and poured their contents into plastic boxes on the left."}], "tasks": ["pour water"], "detailed_task_instruction": ["Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle onto its base on the right side of the table. Next, move to the water cup under the table, pick it up, and pour its contents into the plastic box on the left before placing the cup back under the table. Finally, pick up the water cup on the upper side of the table, pour its contents into the left plastic box, and place the cup back on the table."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 12, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000012.mp4", "length": 1711, "action_config": [{"action_text": "pick up the kettle on the table", "start_frame": 0, "end_frame": 234, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pour the water from the kettle into the cup on the lower side of the table", "start_frame": 234, "end_frame": 433, "skill": "Pour", "language_memory": "The robot has picked up the kettle from the table."}, {"action_text": "pour the water from the kettle into the cup on the table", "start_frame": 433, "end_frame": 577, "skill": "Pour", "language_memory": "The robot picked up the kettle and poured water into the cup."}, {"action_text": "place the kettle onto the base on the right side of the table", "start_frame": 577, "end_frame": 841, "skill": "Place", "language_memory": "The robot picked up the kettle and poured water into two cups on the table."}, {"action_text": "move to the water cup", "start_frame": 841, "end_frame": 973, "skill": "Navigate", "language_memory": "The robot picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base."}, {"action_text": "pick up the water cup under the table", "start_frame": 973, "end_frame": 1122, "skill": "Pick", "language_memory": "The robot picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and moved to the water cup."}, {"action_text": "pour the water from the cup into the left plastic box", "start_frame": 1122, "end_frame": 1230, "skill": "Pour", "language_memory": "The robot picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and then moved to pick up a water cup from under the table."}, {"action_text": "place the cup under the table", "start_frame": 1230, "end_frame": 1290, "skill": "Place", "language_memory": "The robot picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, moved to a water cup under the table, picked it up, and poured its contents into a left plastic box."}, {"action_text": "pick up the water cup on the table", "start_frame": 1290, "end_frame": 1415, "skill": "Pick", "language_memory": "The robot picked up the kettle, poured water into two cups, placed the kettle back on its base, moved to a water cup under the table, picked it up, poured its contents into a left plastic box, and placed the cup back under the table."}, {"action_text": "pour the water from the cup into the plastic box", "start_frame": 1415, "end_frame": 1528, "skill": "Pour", "language_memory": "The robot picked up the kettle, poured water into two cups, placed the kettle back on its base, moved to and picked up a cup under the table, poured its contents into a left plastic box, placed the cup back under the table, and finally picked up a water cup on the table."}, {"action_text": "place the water cup on the table", "start_frame": 1528, "end_frame": 1711, "skill": "Place", "language_memory": "The robot picked up the kettle and poured water into cups on the table and under the table, placed the kettle on its base, moved to a water cup, picked up the cup under the table and poured water into a left plastic box, placed the cup under the table, picked up the water cup on the table, and poured water from it into a plastic box."}], "tasks": ["pour water"], "detailed_task_instruction": ["Pick up the kettle from the table and pour water into the cup located on the lower side of the table, then pour more water from the kettle into the cup on the table. Place the kettle onto its base on the right side of the table. Move to the water cup under the table, pick it up, and pour its contents into the left plastic box before placing the cup back under the table. Next, pick up the water cup on the table and pour its contents into the plastic box, finally placing the cup back on the table."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 13, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000013.mp4", "length": 1147, "action_config": [{"action_text": "pick up the kettle on the table", "start_frame": 0, "end_frame": 143, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pour the water from the kettle into the cup on the table", "start_frame": 143, "end_frame": 311, "skill": "Pour", "language_memory": "The robot has picked up the kettle from the table."}, {"action_text": "pour the water from the kettle into the cup on the lower side of the table", "start_frame": 311, "end_frame": 419, "skill": "Pour", "language_memory": "The robot has picked up the kettle and poured water into the cup."}, {"action_text": "place the kettle on the base on the right side of the table", "start_frame": 419, "end_frame": 514, "skill": "Place", "language_memory": "The robot picked up the kettle and poured water into the cup on the table and the cup on the lower side of the table."}, {"action_text": "move to the water cup", "start_frame": 514, "end_frame": 619, "skill": "Navigate", "language_memory": "The robot picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base."}, {"action_text": "pick up the water cup on the lower side of the table", "start_frame": 619, "end_frame": 727, "skill": "Pick", "language_memory": "The robot picked up the kettle, poured water into the cup on the table and the lower side of the table, placed the kettle on its base, and moved to the water cup."}, {"action_text": "pour the water cup into the left plastic box", "start_frame": 727, "end_frame": 807, "skill": "Pour", "language_memory": "The robot picked up the kettle, poured water into two cups on the table, placed the kettle on its base, and then picked up the cup from the lower side of the table."}, {"action_text": "place the cup under the table", "start_frame": 807, "end_frame": 874, "skill": "Place", "language_memory": "The robot picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to the lower cup, picked it up, and poured its contents into a left plastic box."}, {"action_text": "pick up the water cup on the table", "start_frame": 874, "end_frame": 947, "skill": "Pick", "language_memory": "The robot picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to the lower cup, picked it up, poured its contents into a left plastic box, and finally placed the cup under the table."}, {"action_text": "pour the water cup into the left plastic box", "start_frame": 947, "end_frame": 1009, "skill": "Pour", "language_memory": "The robot picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to and picked up a water cup, poured it into a plastic box, placed the cup under the table, and finally picked up the water cup on the table."}, {"action_text": "place the water cup on the table", "start_frame": 1009, "end_frame": 1079, "skill": "Place", "language_memory": "The robot picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to and picked up cups, and poured water from both cups into the left plastic box."}], "tasks": ["pour water"], "detailed_task_instruction": ["Pick up the kettle from the table and pour water into the cup on the table. Then, pour water from the kettle into the cup located on the lower side of the table. Place the kettle on its base to the right side of the table. Move to the water cup on the lower side of the table, pick it up, and pour its contents into the left plastic box. Place this cup under the table. Next, pick up the water cup on the table and pour its contents into the left plastic box. Finally, place the water cup back on the table."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 14, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000014.mp4", "length": 977, "action_config": [{"action_text": "pick up the kettle on the table", "start_frame": 0, "end_frame": 121, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pour the water from the kettle into the cup on the table", "start_frame": 121, "end_frame": 261, "skill": "Pour", "language_memory": "The robot has picked up the kettle from the table."}, {"action_text": "pour the water from the kettle into the cup on the lower side of the table", "start_frame": 261, "end_frame": 377, "skill": "Pour", "language_memory": "The robot has picked up the kettle and poured water into the cup."}, {"action_text": "place the kettle onto the base on the right side of the table", "start_frame": 377, "end_frame": 488, "skill": "Place", "language_memory": "The robot picked up the kettle and poured water into the cup on the table and the cup on the lower side of the table."}, {"action_text": "move to the water cup", "start_frame": 488, "end_frame": 532, "skill": "Navigate", "language_memory": "The robot picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base."}, {"action_text": "pick up the water cup on the lower side of the table", "start_frame": 532, "end_frame": 614, "skill": "Pick", "language_memory": "The robot picked up the kettle, poured water into the cup on the table and the lower side of the table, and placed the kettle back on its base."}, {"action_text": "pour the water cup into the left plastic box", "start_frame": 614, "end_frame": 682, "skill": "Pour", "language_memory": "The robot picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and then picked up the cup from the lower side of the table."}, {"action_text": "place the cup under the table", "start_frame": 682, "end_frame": 739, "skill": "Place", "language_memory": "The robot picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to the lower cup, picked it up, and poured its contents into a left plastic box."}, {"action_text": "pick up the water cup on the table", "start_frame": 739, "end_frame": 794, "skill": "Pick", "language_memory": "The robot picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to the lower cup, picked it up, poured its contents into a left plastic box, and finally placed the cup under the table."}, {"action_text": "pour the water cup into the left plastic box", "start_frame": 794, "end_frame": 848, "skill": "Pour", "language_memory": "The robot picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to and picked up a cup from the lower side, poured its contents into a plastic box, placed the cup under the table, and finally picked up a water cup from the table."}, {"action_text": "place the cup on the table", "start_frame": 848, "end_frame": 913, "skill": "Place", "language_memory": "The robot picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to a cup, picked it up, and poured its contents into the left plastic box twice."}], "tasks": ["pour water"], "detailed_task_instruction": ["Pick up the kettle from the table and pour water into the cup on the table. Then, pour water from the kettle into the cup located on the lower side of the table. Place the kettle onto its base on the right side of the table. Move to the water cup on the lower side of the table, pick it up, and pour its contents into the left plastic box. Place this cup under the table. Next, pick up the water cup on the table and pour its contents into the left plastic box. Finally, place the cup back on the table."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 15, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000015.mp4", "length": 1290, "action_config": [{"action_text": "pick up the kettle on the table", "start_frame": 0, "end_frame": 121, "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pour the water from the kettle into the cup on the table", "start_frame": 121, "end_frame": 302, "skill": "Pour", "language_memory": "The robot has picked up the kettle from the table."}, {"action_text": "pour the water from the kettle into the cup on the lower side of the table", "start_frame": 302, "end_frame": 420, "skill": "Pour", "language_memory": "The robot has picked up the kettle and poured water into the cup."}, {"action_text": "place the kettle on the base on the right side of the table", "start_frame": 420, "end_frame": 541, "skill": "Place", "language_memory": "The robot picked up the kettle and poured water into the cup on the table and the cup on the lower side of the table."}, {"action_text": "move to the water cup", "start_frame": 541, "end_frame": 591, "skill": "Navigate", "language_memory": "The robot picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base."}, {"action_text": "pick up the water cup on the lower side of the table", "start_frame": 591, "end_frame": 687, "skill": "Pick", "language_memory": "The robot picked up the kettle, poured water into the cup on the table and the lower side of the table, placed the kettle on its base, and moved to the water cup."}, {"action_text": "pour the water cup into the left plastic box", "start_frame": 687, "end_frame": 806, "skill": "Pour", "language_memory": "The robot picked up the kettle, poured water into two cups on the table, placed the kettle on its base, and then picked up the cup from the lower side of the table."}, {"action_text": "place the water cup on the lower side of the table", "start_frame": 806, "end_frame": 882, "skill": "Place", "language_memory": "The robot picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to the lower cup, picked it up, and poured its contents into a left plastic box."}, {"action_text": "pick up the water cup on the table", "start_frame": 882, "end_frame": 969, "skill": "Pick", "language_memory": "The robot picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to the lower cup, picked it up, poured its contents into a left plastic box, and returned the cup to the lower side of the table."}, {"action_text": "pour the water from the right cup into the left plastic box", "start_frame": 969, "end_frame": 1120, "skill": "Pour", "language_memory": "The robot picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to and picked up a water cup, poured its contents into a plastic box, and finally picked up another water cup from the table."}, {"action_text": "place the water cup on the table", "start_frame": 1120, "end_frame": 1199, "skill": "Place", "language_memory": "The robot picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to and picked up a water cup, poured its contents into a left plastic box, and placed the cup back on the lower side of the table."}], "tasks": ["pour water"], "detailed_task_instruction": ["Pick up the kettle from the table and pour water into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle on its base to the right side of the table. Move to the water cup on the lower side, pick it up, and pour its contents into the left plastic box before placing the cup back on the lower side of the table. Finally, pick up the water cup from the table and pour the remaining water from the right cup into the left plastic box, then place the cup back on the table."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 16, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000016.mp4", "length": 1832, "action_config": [{"action_text": "move to the table", "start_frame": 0, "end_frame": 80, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle on the table", "start_frame": 80, "end_frame": 234, "skill": "Pick", "language_memory": "The robot has moved to the table."}, {"action_text": "pour the water from the kettle into the cup on the table", "start_frame": 234, "end_frame": 347, "skill": "Pour", "language_memory": "The robot has moved to the table and picked up the kettle."}, {"action_text": "pour the water from the kettle into the cup on the lower side of the table", "start_frame": 347, "end_frame": 551, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup."}, {"action_text": "place the kettle onto the base on the right side of the table", "start_frame": 551, "end_frame": 764, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup on the table and the lower side of the table."}, {"action_text": "move to the water cup", "start_frame": 764, "end_frame": 935, "skill": "Navigate", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base."}, {"action_text": "pick up the water cup under the table", "start_frame": 935, "end_frame": 1051, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and moved to the water cup."}, {"action_text": "pour the water from the cup into the plastic box on the left", "start_frame": 1051, "end_frame": 1161, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, and picked up the water cup under the table."}, {"action_text": "place the cup under the table", "start_frame": 1161, "end_frame": 1284, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, moved to the water cup, picked up the cup under the table, and poured the water into a plastic box on the left."}, {"action_text": "pick up the water cup on the table", "start_frame": 1284, "end_frame": 1463, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, picked up the water cup under the table, poured the water into a plastic box on the left, and placed the cup back under the table."}, {"action_text": "pour the water from the cup into the left plastic box", "start_frame": 1463, "end_frame": 1575, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, picked up the cup under the table, poured water into a plastic box, placed the cup back under the table, and finally picked up the water cup on the table."}, {"action_text": "pick up the water cup on the table", "start_frame": 1575, "end_frame": 1747, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on and under the table, placed the kettle on its base, picked up cups from under and on the table, and poured water from them into plastic boxes on the left."}], "tasks": ["pour water"], "detailed_task_instruction": ["Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle onto its base on the right side of the table. Move to the water cup under the table, pick it up, and pour its contents into the plastic box on the left before placing the cup back under the table. Finally, pick up the water cup on the table and pour its contents into the left plastic box, then pick up the water cup on the table again."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 17, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000017.mp4", "length": 1838, "action_config": [{"action_text": "move to the table", "start_frame": 0, "end_frame": 108, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle on the table", "start_frame": 108, "end_frame": 298, "skill": "Pick", "language_memory": "The robot has moved to the table."}, {"action_text": "pour the water from the kettle into the cup on the table", "start_frame": 298, "end_frame": 434, "skill": "Pour", "language_memory": "The robot has moved to the table and picked up the kettle."}, {"action_text": "pour the water from the kettle into the cup on the lower side of the table", "start_frame": 434, "end_frame": 562, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup."}, {"action_text": "place the kettle on the base on the right side of the table", "start_frame": 562, "end_frame": 802, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup on the table and the lower side of the table."}, {"action_text": "rotate the object left toward the water cup", "start_frame": 802, "end_frame": 910, "skill": "Rotate", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base."}, {"action_text": "pick up the water cup on the lower side of the table", "start_frame": 910, "end_frame": 1012, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and rotated an object toward a water cup."}, {"action_text": "pour the water from the cup into the left plastic box", "start_frame": 1012, "end_frame": 1178, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, rotated an object toward a cup, and picked up the cup from the lower side of the table."}, {"action_text": "place the water cup under the table", "start_frame": 1178, "end_frame": 1318, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and its lower side, placed the kettle on its base, rotated an object, picked up a cup from the lower side, and poured its contents into a left plastic box."}, {"action_text": "pick up the water cup on the table", "start_frame": 1318, "end_frame": 1460, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, rotated an object, picked up the lower cup, poured its contents into a plastic box, and placed the cup under the table."}, {"action_text": "pour the water from the cup into the plastic box on the left", "start_frame": 1460, "end_frame": 1548, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, rotated an object, transferred water from a cup to a plastic box, and finally picked up the water cup on the table."}, {"action_text": "place the water cup on the table", "start_frame": 1548, "end_frame": 1737, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, rotated an object, picked up cups from the lower side and table, and poured water from both cups into the left plastic box."}], "tasks": ["pour water"], "detailed_task_instruction": ["Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle on its base to the right side of the table. Rotate the object left toward the water cup, pick up the cup from the lower side of the table, and pour its contents into the left plastic box. Place the cup under the table. Next, pick up the water cup from the table and pour its contents into the plastic box on the left. Finally, place the water cup back on the table."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 18, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000018.mp4", "length": 2050, "action_config": [{"action_text": "move to the table", "start_frame": 0, "end_frame": 132, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle on the table", "start_frame": 132, "end_frame": 259, "skill": "Pick", "language_memory": "The robot has moved to the table."}, {"action_text": "pour the water from the kettle into the cup on the table", "start_frame": 259, "end_frame": 362, "skill": "Pour", "language_memory": "The robot has moved to the table and picked up the kettle."}, {"action_text": "pour the water from the kettle into the cup on the lower side of the table", "start_frame": 362, "end_frame": 531, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup."}, {"action_text": "place the kettle on the base on the right side of the table", "start_frame": 531, "end_frame": 874, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup on the table and the lower side of the table."}, {"action_text": "move to the water cup", "start_frame": 874, "end_frame": 1051, "skill": "Navigate", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base."}, {"action_text": "pick up the water cup under the table", "start_frame": 1051, "end_frame": 1175, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle on its base, and moved to the water cup."}, {"action_text": "pour the water cup into the left plastic box", "start_frame": 1175, "end_frame": 1276, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, and picked up the water cup under the table."}, {"action_text": "place the cup under the table", "start_frame": 1276, "end_frame": 1401, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on and under the table, placed the kettle on its base, picked up a water cup from under the table, and poured its contents into a left plastic box."}, {"action_text": "pick up the water cup on the table", "start_frame": 1401, "end_frame": 1566, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, picked up the water cup under the table, poured its contents into a left plastic box, and placed the cup back under the table."}, {"action_text": "pour the water cup into the left plastic box", "start_frame": 1566, "end_frame": 1717, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, moved to the water cup, picked up the cup under the table, poured its contents into a left plastic box, placed the cup under the table, and finally picked up the water cup on the table."}, {"action_text": "place the water cup on the table", "start_frame": 1717, "end_frame": 1947, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on and under the table, placed the kettle on its base, and transferred water from cups into a plastic box."}], "tasks": ["pour water"], "detailed_task_instruction": ["Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle on its base on the right side of the table. Move to the water cup under the table, pick it up, and pour its contents into the left plastic box before placing the cup back under the table. Next, pick up the water cup on the table and pour its contents into the left plastic box. Finally, place the water cup back on the table."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 19, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000019.mp4", "length": 2012, "action_config": [{"action_text": "move to the table", "start_frame": 0, "end_frame": 151, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle on the table", "start_frame": 151, "end_frame": 324, "skill": "Pick", "language_memory": "The robot has moved to the table."}, {"action_text": "pour the water from the kettle into the cup on the table", "start_frame": 324, "end_frame": 479, "skill": "Pour", "language_memory": "The robot has moved to the table and picked up the kettle."}, {"action_text": "pour the water from the kettle into the cup on the lower side of the table", "start_frame": 479, "end_frame": 661, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup."}, {"action_text": "place the kettle onto the base on the right side of the table", "start_frame": 661, "end_frame": 917, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup on the table and the lower side of the table."}, {"action_text": "move to the water cup", "start_frame": 917, "end_frame": 1095, "skill": "Navigate", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base."}, {"action_text": "pick up the water cup on the lower side of the table", "start_frame": 1095, "end_frame": 1292, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and moved to the water cup."}, {"action_text": "pour the water cup into the left plastic box", "start_frame": 1292, "end_frame": 1417, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and picked up the water cup from the lower side of the table."}, {"action_text": "place the cup under the table", "start_frame": 1417, "end_frame": 1552, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up the water cup from the lower side, and poured its contents into the left plastic box."}, {"action_text": "pick up the water cup on the table", "start_frame": 1552, "end_frame": 1664, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up the water cup from the lower side, poured its contents into a left plastic box, and placed the cup under the table."}, {"action_text": "pour the water from the right-hand cup into the left plastic box", "start_frame": 1664, "end_frame": 1741, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to the water cup, picked up the cup from the lower side, poured it into a plastic box, placed the cup under the table, and finally picked up the water cup on the table."}, {"action_text": "place the water cup on the table", "start_frame": 1741, "end_frame": 1918, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up cups from the lower side and table, and poured their contents into the left plastic box."}], "tasks": ["pour water"], "detailed_task_instruction": ["Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle onto its base on the right side of the table. Move to the lower cup, pick it up, and pour its contents into the left plastic box before placing the cup under the table. Next, pick up the water cup on the table and pour its contents into the left plastic box. Finally, place the water cup back on the table."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 20, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000020.mp4", "length": 1969, "action_config": [{"action_text": "move to the table", "start_frame": 0, "end_frame": 124, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle on the table", "start_frame": 124, "end_frame": 415, "skill": "Pick", "language_memory": "The robot has moved to the table."}, {"action_text": "pour the water from the kettle into the cup on the table", "start_frame": 415, "end_frame": 518, "skill": "Pour", "language_memory": "The robot has moved to the table and picked up the kettle."}, {"action_text": "pour the water from the kettle into the cup on the lower side of the table", "start_frame": 518, "end_frame": 655, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup."}, {"action_text": "place the kettle on the base on the right side of the table", "start_frame": 655, "end_frame": 902, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup on the table and the lower side of the table."}, {"action_text": "move to the water cup", "start_frame": 902, "end_frame": 1112, "skill": "Navigate", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base."}, {"action_text": "pick up the water cup on the lower side of the table", "start_frame": 1112, "end_frame": 1244, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle on its base, and moved to the water cup."}, {"action_text": "pour the water from the cup into the plastic box", "start_frame": 1244, "end_frame": 1347, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and picked up the water cup from the lower side of the table."}, {"action_text": "place the water cup on the lower side of the table", "start_frame": 1347, "end_frame": 1506, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and its lower side, placed the kettle on its base, picked up a cup from the lower side, and poured the water into a plastic box."}, {"action_text": "pick up the water cup on the table", "start_frame": 1506, "end_frame": 1624, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up the water cup from the lower side, poured the water into a plastic box, and placed the cup back on the lower side of the table."}, {"action_text": "pour the water from the cup into the plastic box", "start_frame": 1624, "end_frame": 1731, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to the water cup, picked up the cup from the lower side, poured water into a plastic box, placed the cup back, and finally picked up the water cup from the table."}, {"action_text": "place the water cup on the table", "start_frame": 1731, "end_frame": 1902, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up cups from both locations, and poured their contents into a plastic box."}], "tasks": ["pour water"], "detailed_task_instruction": ["Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle on its base on the right side of the table. Move to the water cup on the lower side of the table, pick it up, and pour its contents into the plastic box before placing the cup back down. Finally, pick up the water cup from the table and pour its remaining water into the plastic box, then place the cup back on the table."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 21, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000021.mp4", "length": 1807, "action_config": [{"action_text": "move to the table", "start_frame": 0, "end_frame": 124, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle on the table", "start_frame": 124, "end_frame": 252, "skill": "Pick", "language_memory": "The robot has moved to the table."}, {"action_text": "pour the water from the kettle into the cup on the table", "start_frame": 252, "end_frame": 350, "skill": "Pour", "language_memory": "The robot has moved to the table and picked up the kettle."}, {"action_text": "pour the water from the kettle into the cup on the lower side of the table", "start_frame": 350, "end_frame": 503, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup."}, {"action_text": "place the kettle on the base on the right side of the table", "start_frame": 503, "end_frame": 676, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup on the table and the lower side of the table."}, {"action_text": "move to the water cup", "start_frame": 676, "end_frame": 808, "skill": "Navigate", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base."}, {"action_text": "pick up the water cup on the lower side of the table", "start_frame": 808, "end_frame": 979, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle on its base, and moved to the water cup."}, {"action_text": "pour the water cup into the left plastic box", "start_frame": 979, "end_frame": 1125, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and picked up the water cup from the lower side of the table."}, {"action_text": "place the cup under the table", "start_frame": 1125, "end_frame": 1315, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up the water cup from the lower side, and poured its contents into the left plastic box."}, {"action_text": "pick up the water cup on the table", "start_frame": 1315, "end_frame": 1428, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up the water cup from the lower side, poured its contents into a left plastic box, and placed the cup under the table."}, {"action_text": "pour the water cup into the left plastic box", "start_frame": 1428, "end_frame": 1494, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to the water cup, picked up the cup from the lower side, poured it into a plastic box, placed the cup under the table, and finally picked up the water cup on the table."}, {"action_text": "place the water cup on the table", "start_frame": 1494, "end_frame": 1679, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up cups from both locations, and poured their contents into the left plastic box."}], "tasks": ["pour water"], "detailed_task_instruction": ["Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle on its base on the right side of the table. Move to the lower cup, pick it up, and pour its contents into the left plastic box before placing the cup under the table. Next, pick up the water cup on the table and pour its contents into the left plastic box. Finally, place the water cup back on the table."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 22, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000022.mp4", "length": 1821, "action_config": [{"action_text": "move to the table", "start_frame": 0, "end_frame": 105, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle on the table", "start_frame": 105, "end_frame": 289, "skill": "Pick", "language_memory": "The robot has moved to the table."}, {"action_text": "pour the water from the kettle into the cup on the table", "start_frame": 289, "end_frame": 517, "skill": "Pour", "language_memory": "The robot has moved to the table and picked up the kettle."}, {"action_text": "pour the water from the kettle into the cup on the lower side of the table", "start_frame": 517, "end_frame": 648, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup."}, {"action_text": "place the kettle onto the base on the right side of the table", "start_frame": 648, "end_frame": 882, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup on the table and the lower side of the table."}, {"action_text": "move to the water cup", "start_frame": 882, "end_frame": 1046, "skill": "Navigate", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base."}, {"action_text": "pick up the water cup on the lower side of the table", "start_frame": 1046, "end_frame": 1208, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and moved to the water cup."}, {"action_text": "pour the water cup into the left plastic box", "start_frame": 1208, "end_frame": 1260, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and picked up the water cup from the lower side of the table."}, {"action_text": "place the cup on the lower side of the table", "start_frame": 1260, "end_frame": 1432, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up the water cup from the lower side, and poured its contents into the left plastic box."}, {"action_text": "pick up the water cup on the table", "start_frame": 1432, "end_frame": 1531, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up the water cup from the lower side, poured its contents into a left plastic box, and placed the cup back on the lower side of the table."}, {"action_text": "pour the water cup into the left plastic box", "start_frame": 1531, "end_frame": 1583, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to the water cup, picked up the cup from the lower side, poured it into a left plastic box, placed the cup back on the lower side, and finally picked up the water cup on the table."}, {"action_text": "place the cup on the table", "start_frame": 1583, "end_frame": 1739, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up cups from both locations, and poured their contents into the left plastic box."}], "tasks": ["pour water"], "detailed_task_instruction": ["Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle onto its base on the right side of the table. Move to the water cup on the lower side of the table, pick it up, and pour its contents into the left plastic box before placing the cup back on the lower side of the table. Finally, pick up the water cup from the table and pour its contents into the left plastic box, then place the cup back on the table."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 23, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000023.mp4", "length": 2027, "action_config": [{"action_text": "move to the table", "start_frame": 0, "end_frame": 117, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle on the table", "start_frame": 117, "end_frame": 266, "skill": "Pick", "language_memory": "The robot has moved to the table."}, {"action_text": "pour the water from the kettle into the cup on the lower side of the table", "start_frame": 266, "end_frame": 421, "skill": "Pour", "language_memory": "The robot has moved to the table and picked up the kettle."}, {"action_text": "pour the water from the kettle into the cup on the table", "start_frame": 421, "end_frame": 527, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup."}, {"action_text": "place the kettle onto the base on the right side of the table", "start_frame": 527, "end_frame": 798, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into two cups on the table."}, {"action_text": "move to the water cup", "start_frame": 798, "end_frame": 917, "skill": "Navigate", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups, and placed the kettle back on its base."}, {"action_text": "pick up the water cup under the table", "start_frame": 917, "end_frame": 1072, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups, and placed the kettle back on its base."}, {"action_text": "pour the water from the cup into the plastic box on the left", "start_frame": 1072, "end_frame": 1226, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and picked up a water cup from under the table."}, {"action_text": "place the water cup under the table", "start_frame": 1226, "end_frame": 1370, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups, placed the kettle back on its base, picked up a water cup from under the table, and poured its contents into a plastic box."}, {"action_text": "pick up the water cup on the top side of the table", "start_frame": 1370, "end_frame": 1511, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups, placed the kettle on its base, picked up a water cup from under the table, poured its contents into a plastic box, and returned the cup under the table."}, {"action_text": "pour the water from the cup into the plastic box on the left", "start_frame": 1511, "end_frame": 1652, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups, placed the kettle on its base, moved to the water cup, picked up a cup from under the table, poured its contents into a plastic box, placed the cup back under the table, and finally picked up the water cup on the top side of the table."}, {"action_text": "place the cup on the table", "start_frame": 1652, "end_frame": 1881, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, and transferred water from cups into a plastic box on the left."}], "tasks": ["pour water"], "detailed_task_instruction": ["Move to the table and pick up the kettle. Pour water from the kettle into the cup located on the lower side of the table, then pour more water from the kettle into the cup on the table. Place the kettle onto its base on the right side of the table. Next, move to the water cup, pick up the cup under the table, and pour its contents into the plastic box on the left before placing the cup back under the table. Then, pick up the water cup on the top side of the table, pour its contents into the plastic box on the left, and finally place the cup on the table."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 24, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000024.mp4", "length": 1932, "action_config": [{"action_text": "move to the table", "start_frame": 0, "end_frame": 126, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle on the table", "start_frame": 126, "end_frame": 269, "skill": "Pick", "language_memory": "The robot has moved to the table."}, {"action_text": "pour the water from the kettle into the cup on the table", "start_frame": 269, "end_frame": 420, "skill": "Pour", "language_memory": "The robot has moved to the table and picked up the kettle."}, {"action_text": "pour the water from the kettle into the cup on the lower side of the table", "start_frame": 420, "end_frame": 574, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup."}, {"action_text": "place the kettle onto the base on the right side of the table", "start_frame": 574, "end_frame": 767, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup on the table and the lower side of the table."}, {"action_text": "rotate the object left toward the water cup", "start_frame": 767, "end_frame": 933, "skill": "Rotate", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base."}, {"action_text": "pick up the water cup on the lower side of the table", "start_frame": 933, "end_frame": 1064, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into the cup on the table and the lower side of the table, placed the kettle on its base, and rotated the object left toward the water cup."}, {"action_text": "pour the water cup into the left plastic box", "start_frame": 1064, "end_frame": 1186, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, rotated an object toward a cup, and picked up the cup from the lower side of the table."}, {"action_text": "place the cup under the table", "start_frame": 1186, "end_frame": 1434, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, rotated an object, picked up the lower cup, and poured its contents into a left plastic box."}, {"action_text": "pick up the water cup on the table", "start_frame": 1434, "end_frame": 1520, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, rotated an object, picked up the lower cup, poured its contents into a plastic box, and placed the cup under the table."}, {"action_text": "pour the water from the cup into the plastic box", "start_frame": 1520, "end_frame": 1610, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, rotated an object, poured water from a cup into a plastic box, placed a cup under the table, and picked up a water cup from the table."}, {"action_text": "place the water cup on the table", "start_frame": 1610, "end_frame": 1819, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, rotated an object, picked up cups from the lower side and table, and poured water from both cups into the plastic box."}], "tasks": ["pour water"], "detailed_task_instruction": ["Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle onto its base on the right side of the table. Rotate the object left toward the water cup, pick up the cup from the lower side, and pour its contents into the left plastic box. Place this cup under the table. Next, pick up the water cup on the table and pour the remaining water into the plastic box. Finally, place the water cup back on the table."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 25, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000025.mp4", "length": 1810, "action_config": [{"action_text": "move to the table", "start_frame": 0, "end_frame": 101, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle on the table", "start_frame": 101, "end_frame": 238, "skill": "Pick", "language_memory": "The robot has moved to the table."}, {"action_text": "pour the water from the kettle into the cup on the table", "start_frame": 238, "end_frame": 372, "skill": "Pour", "language_memory": "The robot has moved to the table and picked up the kettle."}, {"action_text": "pour the water from the kettle into the cup on the lower side of the table", "start_frame": 372, "end_frame": 565, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup."}, {"action_text": "place the kettle onto the base on the right side of the table", "start_frame": 565, "end_frame": 762, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup on the table and the lower side of the table."}, {"action_text": "move to the water cup", "start_frame": 762, "end_frame": 927, "skill": "Navigate", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base."}, {"action_text": "pick up the water cup under the desk", "start_frame": 927, "end_frame": 1099, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and moved to the water cup."}, {"action_text": "pour the water from the cup into the left plastic box", "start_frame": 1099, "end_frame": 1205, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and under the desk, placed the kettle on its base, and picked up the water cup under the desk."}, {"action_text": "place the water cup under the table", "start_frame": 1205, "end_frame": 1315, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and under the desk, placed the kettle on its base, moved to the water cup, picked it up, and poured the water into a left plastic box."}, {"action_text": "pick up the water cup on the upper side of the table", "start_frame": 1315, "end_frame": 1437, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and under the desk, placed the kettle on its base, picked up a water cup under the desk, poured water into a left plastic box, and placed the cup back under the table."}, {"action_text": "pour the water from the cup into the left plastic box", "start_frame": 1437, "end_frame": 1542, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, picked up a water cup under the desk, poured water into a plastic box, placed the cup under the table, and finally picked up a water cup on the upper side of the table."}, {"action_text": "place the water cup on the table", "start_frame": 1542, "end_frame": 1699, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, picked up cups from under the desk and the upper side of the table, and poured water from all cups into the left plastic box."}], "tasks": ["pour water"], "detailed_task_instruction": ["Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle onto its base on the right side of the table. Next, move to the water cup under the desk, pick it up, and pour its contents into the left plastic box before placing the cup back under the table. Finally, pick up the water cup on the upper side of the table, pour its contents into the left plastic box, and place the cup back on the table."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 26, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000026.mp4", "length": 2148, "action_config": [{"action_text": "move to the table", "start_frame": 0, "end_frame": 136, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle on the table", "start_frame": 136, "end_frame": 300, "skill": "Pick", "language_memory": "The robot has moved to the table."}, {"action_text": "pour the water from the kettle into the cup on the table", "start_frame": 300, "end_frame": 433, "skill": "Pour", "language_memory": "The robot has moved to the table and picked up the kettle."}, {"action_text": "pour the water from the kettle into the cup on the lower side of the table", "start_frame": 433, "end_frame": 627, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup."}, {"action_text": "place the kettle onto the base on the right side of the table", "start_frame": 627, "end_frame": 931, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup on the table and the lower side of the table."}, {"action_text": "move to the water cup", "start_frame": 931, "end_frame": 1153, "skill": "Navigate", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base."}, {"action_text": "pick up the water cup on the lower side of the table", "start_frame": 1153, "end_frame": 1349, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and moved to the water cup."}, {"action_text": "pour the water cup into the left plastic box", "start_frame": 1349, "end_frame": 1424, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and picked up the water cup from the lower side of the table."}, {"action_text": "place the water cup under the table", "start_frame": 1424, "end_frame": 1606, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up the water cup from the lower side, and poured its contents into the left plastic box."}, {"action_text": "pick up the water cup on the table", "start_frame": 1606, "end_frame": 1730, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up the water cup from the lower side, poured its contents into a left plastic box, and placed the cup under the table."}, {"action_text": "pour the water from the cup into the plastic box", "start_frame": 1730, "end_frame": 1828, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to the water cup, picked up the cup from the lower side, poured its contents into a plastic box, placed the cup under the table, and finally picked up the water cup on the table."}, {"action_text": "place the water cup on the table", "start_frame": 1828, "end_frame": 1973, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up cups from the lower side and table, and poured their contents into a plastic box."}], "tasks": ["pour water"], "detailed_task_instruction": ["Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle onto its base on the right side of the table. Move to the lower cup, pick it up, and pour its contents into the left plastic box before placing the cup under the table. Next, pick up the water cup on the table and pour the remaining water into the plastic box. Finally, place the water cup back on the table."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 27, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000027.mp4", "length": 2128, "action_config": [{"action_text": "move to the table", "start_frame": 0, "end_frame": 74, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle on the table", "start_frame": 74, "end_frame": 213, "skill": "Pick", "language_memory": "The robot has moved to the table."}, {"action_text": "pour the water from the kettle into the cup on the table", "start_frame": 213, "end_frame": 375, "skill": "Pour", "language_memory": "The robot has moved to the table and picked up the kettle."}, {"action_text": "pour the water from the kettle into the cup on the lower side of the table", "start_frame": 375, "end_frame": 544, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup."}, {"action_text": "place the kettle onto the base on the right side of the table", "start_frame": 544, "end_frame": 773, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup on the table and the lower side of the table."}, {"action_text": "move to the water cup", "start_frame": 773, "end_frame": 951, "skill": "Navigate", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base."}, {"action_text": "pick up the water cup on the lower side of the table", "start_frame": 951, "end_frame": 1074, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and moved to the water cup."}, {"action_text": "pour the water cup into the left plastic box", "start_frame": 1074, "end_frame": 1188, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and picked up the water cup from the lower side of the table."}, {"action_text": "place the water cup on the lower side of the table", "start_frame": 1188, "end_frame": 1294, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up the water cup from the lower side, and poured its contents into the left plastic box."}, {"action_text": "pick up the water cup on the table", "start_frame": 1294, "end_frame": 1683, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up the water cup from the lower side, poured its contents into a left plastic box, and placed the cup back on the lower side of the table."}, {"action_text": "pour the water cup into the left plastic box", "start_frame": 1683, "end_frame": 1757, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to the water cup, picked up the cup from the lower side, poured the water into the left plastic box, placed the cup back on the lower side, and finally picked up the water cup on the table."}, {"action_text": "place the cup on the table", "start_frame": 1757, "end_frame": 2024, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up cups from both locations, and poured their contents into the left plastic box."}], "tasks": ["pour water"], "detailed_task_instruction": ["Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle onto its base on the right side of the table. Move to the water cup on the lower side of the table, pick it up, and pour its contents into the left plastic box before placing the cup back on the lower side of the table. Finally, pick up the water cup from the table and pour its contents into the left plastic box, then place the cup back on the table."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 28, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000028.mp4", "length": 2601, "action_config": [{"action_text": "move to the table", "start_frame": 0, "end_frame": 206, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle on the table", "start_frame": 206, "end_frame": 351, "skill": "Pick", "language_memory": "The robot has moved to the table."}, {"action_text": "pour the water from the kettle into the cup on the lower side of the table", "start_frame": 351, "end_frame": 532, "skill": "Pour", "language_memory": "The robot has moved to the table and picked up the kettle."}, {"action_text": "pour the water from the kettle into the cup on the table", "start_frame": 532, "end_frame": 614, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup."}, {"action_text": "place the kettle onto the base on the right side of the table", "start_frame": 614, "end_frame": 991, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into two cups on the table."}, {"action_text": "pick up the kettle on the table", "start_frame": 991, "end_frame": 1211, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups, and placed the kettle back on its base."}, {"action_text": "pour the water from the kettle into the cup on the table", "start_frame": 1211, "end_frame": 1517, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups, placed the kettle back on its base, and picked up the kettle again."}, {"action_text": "place the kettle onto the base on the right side of the table", "start_frame": 1517, "end_frame": 1672, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table, and placed the kettle back on its base."}, {"action_text": "move to the water cup", "start_frame": 1672, "end_frame": 1859, "skill": "Navigate", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table, and placed the kettle back on its base multiple times."}, {"action_text": "pick up the water cup under the table", "start_frame": 1859, "end_frame": 1972, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table, and placed the kettle back on its base before moving to the water cup."}, {"action_text": "pour the water from the cup into the left plastic box", "start_frame": 1972, "end_frame": 2060, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table, placed the kettle back on its base, and finally picked up a water cup from under the table."}, {"action_text": "place the cup under the table", "start_frame": 2060, "end_frame": 2179, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table, placed the kettle back on its base, picked up a water cup from under the table, and poured its contents into a left plastic box."}, {"action_text": "pick up the water cup on the table", "start_frame": 2179, "end_frame": 2261, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and into a left plastic box, and placed the kettle back on its base."}, {"action_text": "pour the water from the cup into the left plastic box", "start_frame": 2261, "end_frame": 2363, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and a lower cup, placed the kettle on its base, picked up a water cup from under the table, poured its contents into a left plastic box, and finally picked up a water cup from the table."}, {"action_text": "place the water cup on the table", "start_frame": 2363, "end_frame": 2601, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table, placed the kettle on its base, picked up a water cup from under the table, and poured water from both cups into the left plastic box."}], "tasks": ["pour water"], "detailed_task_instruction": ["Move to the table, pick up the kettle, and pour water into the cup on the lower side of the table. Then, pour water from the kettle into the cup on the table, place the kettle onto the base on the right side of the table, and repeat the pouring action into the same cup. Next, move to the water cup, pick up the cup under the table, and pour its contents into the left plastic box before placing the cup back under the table. Finally, pick up the water cup on the table and pour its contents into the left plastic box, then place the cup on the table."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 29, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000029.mp4", "length": 1903, "action_config": [{"action_text": "move to the table", "start_frame": 0, "end_frame": 85, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle on the table", "start_frame": 85, "end_frame": 216, "skill": "Pick", "language_memory": "The robot has moved to the table."}, {"action_text": "pour the water from the kettle into the cup on the table", "start_frame": 216, "end_frame": 350, "skill": "Pour", "language_memory": "The robot has moved to the table and picked up the kettle."}, {"action_text": "pour the water from the kettle into the cup on the lower side of the table", "start_frame": 350, "end_frame": 522, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup."}, {"action_text": "place the kettle onto the base on the right side of the table", "start_frame": 522, "end_frame": 752, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup on the table and the lower side of the table."}, {"action_text": "move to the water cup", "start_frame": 752, "end_frame": 880, "skill": "Navigate", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base."}, {"action_text": "pick up the water cup on the lower side of the table", "start_frame": 880, "end_frame": 1011, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and moved to the water cup."}, {"action_text": "pour the water from the right-hand cup into the left plastic box", "start_frame": 1011, "end_frame": 1112, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and picked up the water cup from the lower side of the table."}, {"action_text": "place the cup under the table", "start_frame": 1112, "end_frame": 1294, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and its lower side, placed the kettle on its base, picked up a cup from the lower side, and poured its contents into a plastic box."}, {"action_text": "pick up the water cup on the table", "start_frame": 1294, "end_frame": 1477, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up the lower cup, poured its contents into a plastic box, and placed the cup under the table."}, {"action_text": "pour the water cup into the left plastic box", "start_frame": 1477, "end_frame": 1584, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to the water cup, picked up the cup from the lower side, poured water from the right cup into the left plastic box, placed the cup under the table, and picked up the water cup on the table."}, {"action_text": "place the cup on the table", "start_frame": 1584, "end_frame": 1787, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up both cups, and poured their contents into the left plastic box."}], "tasks": ["pour water"], "detailed_task_instruction": ["Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle onto its base on the right side of the table. Move to the lower cup, pick it up, and pour its contents into the left plastic box before placing the cup under the table. Next, pick up the water cup on the table and pour its contents into the left plastic box. Finally, place the cup back on the table."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 30, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000030.mp4", "length": 1854, "action_config": [{"action_text": "move to the table", "start_frame": 0, "end_frame": 107, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle on the table", "start_frame": 107, "end_frame": 256, "skill": "Pick", "language_memory": "The robot has moved to the table."}, {"action_text": "pour the water from the kettle into the cup on the table", "start_frame": 256, "end_frame": 411, "skill": "Pour", "language_memory": "The robot has moved to the table and picked up the kettle."}, {"action_text": "pour the water from the kettle into the cup on the lower side of the table", "start_frame": 411, "end_frame": 585, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup."}, {"action_text": "place the kettle onto the base on the right side of the table", "start_frame": 585, "end_frame": 960, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup on the table and the lower side of the table."}, {"action_text": "move to the water cup", "start_frame": 960, "end_frame": 1065, "skill": "Navigate", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base."}, {"action_text": "pick up the water cup on the lower side of the table", "start_frame": 1065, "end_frame": 1218, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and moved to the water cup."}, {"action_text": "pour the water cup into the left plastic box", "start_frame": 1218, "end_frame": 1345, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and picked up the water cup from the lower side of the table."}, {"action_text": "place the water cup under the table", "start_frame": 1345, "end_frame": 1460, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up the water cup from the lower side, and poured its contents into the left plastic box."}, {"action_text": "pick up the water cup on the table", "start_frame": 1460, "end_frame": 1541, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up the water cup from the lower side, poured its contents into a left plastic box, and placed the cup under the table."}, {"action_text": "pour the water cup into the left plastic box", "start_frame": 1541, "end_frame": 1614, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to the water cup, picked up the cup from the lower side, poured its contents into a plastic box, placed the cup under the table, and finally picked up the water cup on the table."}, {"action_text": "place the cup on the table", "start_frame": 1614, "end_frame": 1769, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up cups from both locations, and poured their contents into the left plastic box."}], "tasks": ["pour water"], "detailed_task_instruction": ["Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle onto its base on the right side of the table. Move to the water cup on the lower side of the table, pick it up, and pour its contents into the left plastic box. Place this cup under the table. Next, pick up the water cup on the table and pour its contents into the left plastic box. Finally, place the cup back on the table."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 31, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000031.mp4", "length": 1946, "action_config": [{"action_text": "move to the table", "start_frame": 0, "end_frame": 141, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle on the table", "start_frame": 141, "end_frame": 281, "skill": "Pick", "language_memory": "The robot has moved to the table."}, {"action_text": "pour the water from the kettle into the cup on the table", "start_frame": 281, "end_frame": 434, "skill": "Pour", "language_memory": "The robot has moved to the table and picked up the kettle."}, {"action_text": "pour the water from the kettle into the cup on the lower side of the table", "start_frame": 434, "end_frame": 533, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup."}, {"action_text": "place the kettle on the base on the right side of the table", "start_frame": 533, "end_frame": 770, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup on the table and the lower side of the table."}, {"action_text": "move to the water cup", "start_frame": 770, "end_frame": 942, "skill": "Navigate", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base."}, {"action_text": "pick up the water cup on the lower side of the table", "start_frame": 942, "end_frame": 1075, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle on its base, and moved to the water cup."}, {"action_text": "pour the water cup into the left plastic box", "start_frame": 1075, "end_frame": 1221, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and picked up the water cup from the lower side of the table."}, {"action_text": "place the cup on the lower side of the table", "start_frame": 1221, "end_frame": 1423, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up the water cup from the lower side, and poured its contents into the left plastic box."}, {"action_text": "pick up the water cup on the table", "start_frame": 1423, "end_frame": 1552, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up the water cup from the lower side, poured its contents into a left plastic box, and placed the cup back on the lower side of the table."}, {"action_text": "pour the water from the cup into the plastic box on the left", "start_frame": 1552, "end_frame": 1660, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to the water cup, picked up the cup from the lower side, poured the water into the left plastic box, placed the cup back on the lower side, and picked up the water cup on the table."}, {"action_text": "place the cup on the table", "start_frame": 1660, "end_frame": 1804, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up the cups, and poured the water from both cups into the left plastic box."}], "tasks": ["pour water"], "detailed_task_instruction": ["Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle on its base on the right side of the table. Move to the water cup on the lower side of the table, pick it up, and pour its contents into the left plastic box before placing the cup back on the lower side of the table. Finally, pick up the water cup from the table and pour the remaining water into the plastic box on the left, then place the cup back on the table."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 32, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000032.mp4", "length": 1876, "action_config": [{"action_text": "move to the table", "start_frame": 0, "end_frame": 110, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle on the table", "start_frame": 110, "end_frame": 289, "skill": "Pick", "language_memory": "The robot has moved to the table."}, {"action_text": "pour the water from the kettle into the cup on the table", "start_frame": 289, "end_frame": 387, "skill": "Pour", "language_memory": "The robot has moved to the table and picked up the kettle."}, {"action_text": "pour the water from the kettle into the cup on the lower side of the table", "start_frame": 387, "end_frame": 496, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup."}, {"action_text": "place the kettle onto the base on the right side of the table", "start_frame": 496, "end_frame": 808, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup on the table and the lower side of the table."}, {"action_text": "move to the water cup", "start_frame": 808, "end_frame": 961, "skill": "Navigate", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base."}, {"action_text": "pick up the water cup on the lower side of the table", "start_frame": 961, "end_frame": 1092, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and moved to the water cup."}, {"action_text": "pour the water from the right-hand cup into the left plastic box", "start_frame": 1092, "end_frame": 1186, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and picked up the water cup from the lower side of the table."}, {"action_text": "place the cup on the lower side of the table", "start_frame": 1186, "end_frame": 1312, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and its lower side, placed the kettle on its base, picked up a cup from the lower side, and poured its contents into a plastic box."}, {"action_text": "pick up the water cup on the table", "start_frame": 1312, "end_frame": 1388, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and its lower side, placed the kettle on its base, picked up the cup from the lower side, poured its contents into a plastic box, and placed the cup back on the lower side of the table."}, {"action_text": "pour the water from the cup into the plastic box on the left", "start_frame": 1388, "end_frame": 1477, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and its lower side, placed the kettle on its base, picked up a cup from the lower side, transferred its contents to a plastic box, placed the cup back, and finally picked up the water cup on the table."}, {"action_text": "place the cup on the table", "start_frame": 1477, "end_frame": 1659, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and its lower side, placed the kettle on its base, picked up the cups, and poured the water from both cups into the plastic box on the left."}], "tasks": ["pour water"], "detailed_task_instruction": ["Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle onto its base on the right side of the table. Move to the lower cup, pick it up, and pour its contents into the plastic box on the left before placing the cup back on the lower side of the table. Finally, pick up the water cup from the table and pour its contents into the plastic box on the left, then place the cup back on the table."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 33, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000033.mp4", "length": 2189, "action_config": [{"action_text": "move to the table", "start_frame": 0, "end_frame": 143, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle on the table", "start_frame": 143, "end_frame": 343, "skill": "Pick", "language_memory": "The robot has moved to the table."}, {"action_text": "pour the water from the kettle into the cup on the table", "start_frame": 343, "end_frame": 514, "skill": "Pour", "language_memory": "The robot has moved to the table and picked up the kettle."}, {"action_text": "pour the water from the kettle into the cup on the lower side of the table", "start_frame": 514, "end_frame": 729, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup."}, {"action_text": "place the kettle onto the base on the right side of the table", "start_frame": 729, "end_frame": 955, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup on the table and the lower side of the table."}, {"action_text": "move to the water cup", "start_frame": 955, "end_frame": 1241, "skill": "Navigate", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base."}, {"action_text": "pick up the water cup on the lower side of the table", "start_frame": 1241, "end_frame": 1426, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and moved to the water cup."}, {"action_text": "pour the water cup into the left plastic box", "start_frame": 1426, "end_frame": 1534, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and picked up the water cup from the lower side of the table."}, {"action_text": "place the cup under the table", "start_frame": 1534, "end_frame": 1700, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up the water cup from the lower side, and poured its contents into the left plastic box."}, {"action_text": "pick up the water cup on the table", "start_frame": 1700, "end_frame": 1841, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up the water cup from the lower side, poured its contents into a left plastic box, and placed the cup under the table."}, {"action_text": "pour the water cup into the left plastic box", "start_frame": 1841, "end_frame": 1941, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to the water cup, picked up the cup from the lower side, poured it into a plastic box, placed the cup under the table, and finally picked up the water cup on the table."}, {"action_text": "place the cup on the table", "start_frame": 1941, "end_frame": 2117, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up cups from both locations, and poured their contents into the left plastic box."}], "tasks": ["pour water"], "detailed_task_instruction": ["Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle onto its base on the right side of the table. Move to the lower cup, pick it up, and pour its contents into the left plastic box before placing the cup under the table. Next, pick up the water cup on the table and pour its contents into the left plastic box. Finally, place the cup back on the table."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 34, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000034.mp4", "length": 1953, "action_config": [{"action_text": "move to the table", "start_frame": 0, "end_frame": 136, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle on the table", "start_frame": 136, "end_frame": 297, "skill": "Pick", "language_memory": "The robot has moved to the table."}, {"action_text": "pour the water from the kettle into the cup on the lower side of the table", "start_frame": 297, "end_frame": 446, "skill": "Pour", "language_memory": "The robot has moved to the table and picked up the kettle."}, {"action_text": "pour the water from the kettle into the cup on the table", "start_frame": 446, "end_frame": 654, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup."}, {"action_text": "place the kettle on the base on the right side of the table", "start_frame": 654, "end_frame": 867, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into two cups on the table."}, {"action_text": "move to the cup", "start_frame": 867, "end_frame": 1013, "skill": "Navigate", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups, and placed the kettle back on its base."}, {"action_text": "pick up the water cup under the table", "start_frame": 1013, "end_frame": 1145, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups, and placed the kettle back on its base."}, {"action_text": "pour the water from the cup into the left plastic box", "start_frame": 1145, "end_frame": 1240, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and picked up a water cup from under the table."}, {"action_text": "place the water cup under the table", "start_frame": 1240, "end_frame": 1347, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups, placed the kettle on its base, picked up a cup from under the table, and poured its contents into a left plastic box."}, {"action_text": "pick up the water cup on the table", "start_frame": 1347, "end_frame": 1631, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups, placed the kettle on its base, picked up a cup from under the table, poured its contents into a plastic box, and returned the cup under the table."}, {"action_text": "pour the water from the cup into the left plastic box", "start_frame": 1631, "end_frame": 1695, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups, placed the kettle on its base, moved to a cup under the table, picked it up, poured water into a plastic box, placed the cup back under the table, and finally picked up the water cup on the table."}, {"action_text": "place the water cup on the table", "start_frame": 1695, "end_frame": 1859, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups, placed the kettle on its base, picked up both cups, and poured the water from each cup into the left plastic box."}], "tasks": ["pour water"], "detailed_task_instruction": ["Move to the table, pick up the kettle, and pour water into the cup on the lower side of the table, then pour more water into the cup on the table. Place the kettle on its base on the right side of the table. Move to the cup under the table, pick it up, and pour its contents into the left plastic box before placing the cup back under the table. Next, pick up the water cup on the table and pour its contents into the left plastic box, finally placing the cup back on the table."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 35, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000035.mp4", "length": 2204, "action_config": [{"action_text": "move to the table", "start_frame": 0, "end_frame": 172, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle on the table", "start_frame": 172, "end_frame": 328, "skill": "Pick", "language_memory": "The robot has moved to the table."}, {"action_text": "pour the water from the kettle into the cup on the table", "start_frame": 328, "end_frame": 472, "skill": "Pour", "language_memory": "The robot has moved to the table and picked up the kettle."}, {"action_text": "pour the water from the kettle into the cup on the lower side of the table", "start_frame": 472, "end_frame": 623, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup."}, {"action_text": "place the kettle on the base on the right side of the table", "start_frame": 623, "end_frame": 770, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup on the table and the lower side of the table."}, {"action_text": "move to the water cup", "start_frame": 770, "end_frame": 973, "skill": "Navigate", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base."}, {"action_text": "pick up the water cup on the lower side of the table", "start_frame": 973, "end_frame": 1128, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle on its base, and moved to the water cup."}, {"action_text": "pour the water from the cup into the plastic box", "start_frame": 1128, "end_frame": 1325, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and picked up the water cup from the lower side of the table."}, {"action_text": "place the cup on the lower side of the table", "start_frame": 1325, "end_frame": 1445, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and its lower side, placed the kettle on its base, picked up a cup from the lower side, and poured the water into a plastic box."}, {"action_text": "pick up the water cup on the table", "start_frame": 1445, "end_frame": 1622, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up the water cup from the lower side, poured the water into a plastic box, and placed the cup back on the lower side of the table."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1622, "end_frame": 1692, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to the water cup, picked up the cup from the lower side, poured water into a plastic box, placed the cup back, and finally picked up the water cup on the table."}, {"action_text": "place the cup on the table", "start_frame": 1692, "end_frame": 1929, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and its lower side, placed the kettle on its base, picked up the cups, and poured the water from both cups into plastic boxes on the left and lower sides of the table."}, {"action_text": "pick up the water cup under the table", "start_frame": 1929, "end_frame": 2142, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up both cups, poured their contents into plastic boxes on the left and lower sides, and placed the cups back on the table."}, {"action_text": "adjust the robot posture", "start_frame": 2142, "end_frame": 2204, "skill": "AdjustPosture", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up cups from various locations, and poured water from them into plastic boxes on the left and right sides of the table."}], "tasks": ["pour water"], "detailed_task_instruction": ["Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then into the cup on the lower side of the table. Place the kettle on its base to the right side of the table. Next, move to the water cup on the lower side of the table, pick it up, and pour its contents into the plastic box. Return the cup to the lower side of the table. Then, pick up the water cup on the table, pour its contents into the plastic box on the left side of the table, and place the cup back on the table. Finally, pick up the water cup under the table, pour its contents into the plastic box, place the cup back, and adjust the robot posture."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 36, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000036.mp4", "length": 2462, "action_config": [{"action_text": "aim at the table surface", "start_frame": 0, "end_frame": 125, "skill": "Aim", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle", "start_frame": 125, "end_frame": 269, "skill": "Pick", "language_memory": "The robot aimed at the table surface."}, {"action_text": "pour water into the cup on the table", "start_frame": 269, "end_frame": 400, "skill": "Pour", "language_memory": "The robot has aimed at the table surface and picked up the kettle."}, {"action_text": "pour water into the cup below the table", "start_frame": 400, "end_frame": 540, "skill": "Pour", "language_memory": "The robot aimed at the table surface, picked up the kettle, and poured water into the cup on the table."}, {"action_text": "place the kettle on the base", "start_frame": 540, "end_frame": 765, "skill": "Place", "language_memory": "The robot aimed at the table surface, picked up the kettle, and poured water into cups located on and below the table."}, {"action_text": "move to the water cup", "start_frame": 765, "end_frame": 1078, "skill": "Navigate", "language_memory": "The robot aimed at the table surface, picked up the kettle, poured water into cups on and below the table, and placed the kettle back on its base."}, {"action_text": "pick up the water cup under the table", "start_frame": 1078, "end_frame": 1443, "skill": "Pick", "language_memory": "The robot aimed at the table surface, picked up the kettle, poured water into cups on and below the table, placed the kettle on its base, and moved to the water cup."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1443, "end_frame": 1578, "skill": "Pour", "language_memory": "The robot aimed at the table, picked up the kettle, poured water into cups on and below the table, placed the kettle on its base, and picked up the water cup under the table."}, {"action_text": "place the water cup under the table", "start_frame": 1578, "end_frame": 1879, "skill": "Place", "language_memory": "The robot aimed at the table, picked up the kettle, poured water into cups on and below the table, placed the kettle on its base, moved to the water cup, picked up the cup under the table, and poured the water into a plastic box on the left side of the table."}, {"action_text": "pick up the water cup on the table", "start_frame": 1879, "end_frame": 2001, "skill": "Pick", "language_memory": "The robot aimed at the table, picked up the kettle, poured water into cups on and below the table, placed the kettle on its base, moved to the water cup under the table, picked it up, poured the water into a plastic box on the left side of the table, and placed the cup back under the table."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 2001, "end_frame": 2135, "skill": "Pour", "language_memory": "The robot aimed at the table, picked up the kettle, poured water into cups on and below the table, placed the kettle on its base, moved to the water cup, picked up the cup under the table, poured its contents into a plastic box on the left, placed the cup back under the table, and finally picked up the water cup on the table."}, {"action_text": "place the cup on the table", "start_frame": 2135, "end_frame": 2359, "skill": "Place", "language_memory": "The robot has successfully poured water from the kettle into cups on and under the table, emptied both cups into a plastic box, and returned the kettle to its base."}, {"action_text": "adjust the robot posture", "start_frame": 2359, "end_frame": 2462, "skill": "AdjustPosture", "language_memory": "The robot picked up the kettle to pour water into cups on and under the table, then emptied both cups into a plastic box on the left side of the table before placing the final cup back on the table."}], "tasks": ["pour water"], "detailed_task_instruction": ["Aim at the table surface, pick up the kettle, and pour water into the cup on the table. Then, pour water into the cup below the table. Place the kettle on its base and move to the water cup. Pick up the water cup under the table and pour the water from it into the plastic box on the left side of the table. Place the water cup back under the table. Next, pick up the water cup on the table and pour the water from it into the plastic box on the left side of the table. Finally, place the cup on the table and adjust the robot posture."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 37, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000037.mp4", "length": 2333, "action_config": [{"action_text": "aim at the table surface", "start_frame": 0, "end_frame": 145, "skill": "Aim", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle", "start_frame": 145, "end_frame": 276, "skill": "Pick", "language_memory": "The robot aimed at the table surface."}, {"action_text": "pour water into the cup on the table", "start_frame": 276, "end_frame": 403, "skill": "Pour", "language_memory": "The robot has aimed at the table surface and picked up the kettle."}, {"action_text": "pour water into the cup below the table", "start_frame": 403, "end_frame": 549, "skill": "Pour", "language_memory": "The robot aimed at the table surface, picked up the kettle, and poured water into the cup on the table."}, {"action_text": "place the kettle on the base", "start_frame": 549, "end_frame": 819, "skill": "Place", "language_memory": "The robot aimed at the table surface, picked up the kettle, and poured water into cups located on and below the table."}, {"action_text": "pick up the cup under the table and place it on the target location", "start_frame": 819, "end_frame": 1019, "skill": "PickAndPlace", "language_memory": "The robot aimed at the table surface, picked up the kettle, poured water into cups on and below the table, and placed the kettle back on its base."}, {"action_text": "pick up the water cup on the lower side of the table", "start_frame": 1019, "end_frame": 1174, "skill": "Pick", "language_memory": "The robot aimed at the table, picked up the kettle, poured water into cups on and below the table, placed the kettle on its base, and moved a cup from under the table to its target location."}, {"action_text": "pour the water from the right-hand cup into the plastic box on the left side of the table", "start_frame": 1174, "end_frame": 1472, "skill": "Pour", "language_memory": "The robot aimed at the table, picked up the kettle, poured water into cups on and below the table, placed the kettle on its base, and moved cups from under the table to their target locations."}, {"action_text": "place the cup under the table", "start_frame": 1472, "end_frame": 1781, "skill": "Place", "language_memory": "The robot aimed at the table, picked up the kettle, poured water into cups on and below the table, placed the kettle on its base, moved a cup from under the table to a target location, picked up a cup from the lower side of the table, and transferred water from a right-hand cup into a plastic box on the left side of the table."}, {"action_text": "pick up the water cup on the table", "start_frame": 1781, "end_frame": 1979, "skill": "Pick", "language_memory": "The robot aimed at the table, picked up the kettle, poured water into cups on and below the table, placed the kettle on its base, moved a cup from under the table to a target location, transferred water from a right-hand cup to a plastic box, and finally placed a cup under the table."}, {"action_text": "pour the water from the cup into the plastic box", "start_frame": 1979, "end_frame": 2079, "skill": "Pour", "language_memory": "The robot aimed at the table, picked up the kettle, poured water into cups on and below the table, placed the kettle on its base, moved a cup from under the table to a target location, transferred water from a right-hand cup to a plastic box, placed a cup under the table, and picked up a water cup from the table."}, {"action_text": "place the cup on the table", "start_frame": 2079, "end_frame": 2333, "skill": "Place", "language_memory": "The robot aimed at the table, picked up the kettle, poured water into cups on and below the table, placed the kettle on its base, moved cups between locations, and transferred water from cups into a plastic box."}], "tasks": ["pour water"], "detailed_task_instruction": ["Pick up the kettle and pour water into the cup on the table, then pour water into the cup located below the table. Place the kettle back on its base. Retrieve the cup from under the table and move it to the target location. Next, pick up the water cup on the lower side of the table and pour its contents into the plastic box on the left side of the table. Finally, place that cup under the table, pick up the remaining water cup on the table, pour its water into the plastic box, and place the cup back on the table."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 38, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000038.mp4", "length": 1736, "action_config": [{"action_text": "aim at the table surface", "start_frame": 0, "end_frame": 140, "skill": "Aim", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle", "start_frame": 140, "end_frame": 257, "skill": "Pick", "language_memory": "The robot aimed at the table surface."}, {"action_text": "pour water into the cup on the table", "start_frame": 257, "end_frame": 409, "skill": "Pour", "language_memory": "The robot has aimed at the table surface and picked up the kettle."}, {"action_text": "pour water into the cup under the table", "start_frame": 409, "end_frame": 558, "skill": "Pour", "language_memory": "The robot aimed at the table surface, picked up the kettle, and poured water into the cup on the table."}, {"action_text": "place the kettle on the base", "start_frame": 558, "end_frame": 702, "skill": "Place", "language_memory": "The robot aimed at the table surface, picked up the kettle, and poured water into cups located on and under the table."}, {"action_text": "pick up the water cup from the lower side of the table", "start_frame": 702, "end_frame": 1075, "skill": "Pick", "language_memory": "The robot aimed at the table surface, picked up the kettle, poured water into cups on and under the table, and placed the kettle back on its base."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1075, "end_frame": 1217, "skill": "Pour", "language_memory": "The robot aimed at the table, picked up the kettle, poured water into cups on and under the table, placed the kettle on its base, and picked up a water cup from under the table."}, {"action_text": "place the cup on the lower side of the table", "start_frame": 1217, "end_frame": 1339, "skill": "Place", "language_memory": "The robot aimed at the table, picked up the kettle, poured water into cups on and under the table, placed the kettle on its base, retrieved a water cup from under the table, and emptied it into a plastic box on the left side."}, {"action_text": "pick up the water cup on the table", "start_frame": 1339, "end_frame": 1425, "skill": "Pick", "language_memory": "The robot aimed at the table, picked up the kettle, poured water into cups on and under the table, placed the kettle on its base, retrieved a cup from under the table, emptied it into a plastic box, and returned the cup to its original position."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1425, "end_frame": 1499, "skill": "Pour", "language_memory": "The robot has picked up a water cup from the table, poured water into a cup on the table and into a plastic box on the left side of the table, and placed the kettle on its base."}, {"action_text": "place the cup on the table", "start_frame": 1499, "end_frame": 1621, "skill": "Place", "language_memory": "The robot has picked up the kettle to pour water into cups on and under the table, placed the kettle on its base, and emptied water from two cups into a plastic box on the left side of the table."}, {"action_text": "adjust the robot posture", "start_frame": 1621, "end_frame": 1736, "skill": "AdjustPosture", "language_memory": "The robot has successfully picked up the kettle to pour water into cups on and under the table, placed the kettle on its base, and emptied multiple cups into a plastic box on the left side of the table before returning them to their respective positions."}], "tasks": ["pour water"], "detailed_task_instruction": ["Aim at the table surface, pick up the kettle, and pour water into the cup on the table. Then, pour water into the cup located under the table. Place the kettle back on its base. Pick up the water cup from the lower side of the table and pour its contents into the plastic box on the left side of the table. Place the cup back on the lower side of the table. Next, pick up the water cup on the table and pour its contents into the same plastic box on the left side. Finally, place the cup on the table and adjust the robot posture."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 39, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000039.mp4", "length": 1783, "action_config": [{"action_text": "aim at the table surface", "start_frame": 0, "end_frame": 81, "skill": "Aim", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle", "start_frame": 81, "end_frame": 232, "skill": "Pick", "language_memory": "The robot aimed at the table surface."}, {"action_text": "pour water into the cup on the table", "start_frame": 232, "end_frame": 369, "skill": "Pour", "language_memory": "The robot has aimed at the table surface and picked up the kettle."}, {"action_text": "pour water into the cup below the table", "start_frame": 369, "end_frame": 508, "skill": "Pour", "language_memory": "The robot aimed at the table surface, picked up the kettle, and poured water into the cup on the table."}, {"action_text": "place the kettle on the base", "start_frame": 508, "end_frame": 793, "skill": "Place", "language_memory": "The robot aimed at the table surface, picked up the kettle, and poured water into cups located on and below the table."}, {"action_text": "pick up the water cup from the lower side of the table", "start_frame": 793, "end_frame": 1106, "skill": "Pick", "language_memory": "The robot aimed at the table surface, picked up the kettle, poured water into cups on and below the table, and placed the kettle back on its base."}, {"action_text": "pour the water from the cup into the plastic box", "start_frame": 1106, "end_frame": 1222, "skill": "Pour", "language_memory": "The robot aimed at the table, picked up the kettle, poured water into cups on and below the table, placed the kettle on its base, and picked up a water cup from below the table."}, {"action_text": "place the cup under the table", "start_frame": 1222, "end_frame": 1329, "skill": "Place", "language_memory": "The robot aimed at the table, picked up the kettle, poured water into cups on and below the table, placed the kettle on its base, retrieved a water cup from under the table, and emptied it into a plastic box."}, {"action_text": "pick up the water cup on the table", "start_frame": 1329, "end_frame": 1445, "skill": "Pick", "language_memory": "The robot aimed at the table, picked up the kettle, poured water into cups on and below the table, placed the kettle on its base, picked up a cup from under the table, transferred its contents to a plastic box, and placed the cup back under the table."}, {"action_text": "pour the water from the right-hand cup into the plastic box on the left side of the table", "start_frame": 1445, "end_frame": 1566, "skill": "Pour", "language_memory": "The robot aimed at the table, picked up the kettle, poured water into cups on and below the table, placed the kettle on its base, transferred water from a lower cup to a plastic box, and picked up a water cup from the table."}, {"action_text": "place the water cup on the table", "start_frame": 1566, "end_frame": 1703, "skill": "Place", "language_memory": "The robot has aimed at the table, picked up the kettle and water cups, poured water into cups and a plastic box, and placed the kettle on its base."}, {"action_text": "adjust the robot posture", "start_frame": 1703, "end_frame": 1783, "skill": "AdjustPosture", "language_memory": "The robot has picked up the kettle and water cups, poured water into cups and a plastic box, and placed the kettle on its base and cups on the table or under the table."}], "tasks": ["pour water"], "detailed_task_instruction": ["Adjust the robot posture, then pick up the kettle and aim at the table surface. Pour water into the cup on the table, followed by pouring water into the cup located below the table. Place the kettle back on its base. Pick up the water cup from the lower side of the table and pour its contents into the plastic box. Return the cup to its position under the table. Next, pick up the water cup on the table and pour the water from the right-hand cup into the plastic box on the left side of the table. Finally, place the water cup back on the table."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 40, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000040.mp4", "length": 1476, "action_config": [{"action_text": "adjust the robot posture", "start_frame": 0, "end_frame": 108, "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle", "start_frame": 108, "end_frame": 215, "skill": "Pick", "language_memory": "The robot has adjusted its posture."}, {"action_text": "pour water into the cup on the table", "start_frame": 215, "end_frame": 371, "skill": "Pour", "language_memory": "The robot has adjusted its posture and picked up the kettle."}, {"action_text": "pour water into the cup under the table", "start_frame": 371, "end_frame": 496, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into the cup on the table."}, {"action_text": "place the kettle on the base", "start_frame": 496, "end_frame": 653, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into cups located on and under the table."}, {"action_text": "pick up the cup under the table", "start_frame": 653, "end_frame": 927, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and under the table, and placed the kettle back on the base."}, {"action_text": "pour the water from the cup into the plastic box", "start_frame": 927, "end_frame": 1048, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and under the table, placed the kettle back on its base, and picked up the cup under the table."}, {"action_text": "place the cup under the table", "start_frame": 1048, "end_frame": 1163, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and under the table, placed the kettle back on its base, picked up the cup under the table, and poured the water from the cup into a plastic box."}, {"action_text": "pick up the water cup on the table", "start_frame": 1163, "end_frame": 1252, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and under the table, returned the kettle to its base, picked up the cup under the table, poured its contents into a plastic box, and placed the cup back under the table."}, {"action_text": "pour the water from the cup into the plastic box", "start_frame": 1252, "end_frame": 1332, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up a kettle, poured water into cups on and under the table, placed the kettle on its base, transferred water from a cup under the table to a plastic box, and finally picked up a water cup on the table."}, {"action_text": "place the cup on the table", "start_frame": 1332, "end_frame": 1423, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into cups on and under the table, returned the kettle to its base, and emptied water from both cups into a plastic box."}, {"action_text": "adjust the robot posture", "start_frame": 1423, "end_frame": 1476, "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into cups on and under the table, returned the kettle to its base, and emptied water from both cups into a plastic box before placing the cups back on the table and under the table respectively."}], "tasks": ["pour water"], "detailed_task_instruction": ["Adjust your posture, then pick up the kettle to pour water into the cup on the table and subsequently into the cup under the table. Place the kettle back on its base. Retrieve the cup under the table and pour its contents into the plastic box before returning the cup to its original position. Next, pick up the water cup on the table and pour its contents into the plastic box, then place the cup back on the table. Finally, adjust your posture to complete the task."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 41, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000041.mp4", "length": 2037, "action_config": [{"action_text": "aim at the table surface", "start_frame": 0, "end_frame": 159, "skill": "Aim", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle", "start_frame": 159, "end_frame": 300, "skill": "Pick", "language_memory": "The robot aimed at the table surface."}, {"action_text": "pour water into the cup on the table", "start_frame": 300, "end_frame": 485, "skill": "Pour", "language_memory": "The robot has aimed at the table surface and picked up the kettle."}, {"action_text": "pour water into the cup below the table", "start_frame": 485, "end_frame": 705, "skill": "Pour", "language_memory": "The robot aimed at the table surface, picked up the kettle, and poured water into the cup on the table."}, {"action_text": "place the kettle on the base", "start_frame": 705, "end_frame": 864, "skill": "Place", "language_memory": "The robot aimed at the table surface, picked up the kettle, and poured water into cups located on and below the table."}, {"action_text": "pick up the lower cup on the table", "start_frame": 864, "end_frame": 1295, "skill": "Pick", "language_memory": "The robot aimed at the table surface, picked up the kettle, poured water into cups on and below the table, and placed the kettle back on its base."}, {"action_text": "pour the water from the cup into the plastic box", "start_frame": 1295, "end_frame": 1423, "skill": "Pour", "language_memory": "The robot aimed at the table, picked up the kettle, poured water into cups on and below the table, placed the kettle on its base, and picked up the lower cup on the table."}, {"action_text": "place the water cup under the table", "start_frame": 1423, "end_frame": 1515, "skill": "Place", "language_memory": "The robot aimed at the table, picked up the kettle, poured water into cups on and below the table, placed the kettle on its base, picked up a lower cup, and poured its contents into a plastic box."}, {"action_text": "pick up the water cup on the table", "start_frame": 1515, "end_frame": 1640, "skill": "Pick", "language_memory": "The robot aimed at the table, picked up the kettle, poured water into cups on and below the table, placed the kettle on its base, transferred water from a cup to a plastic box, and positioned a water cup under the table."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1640, "end_frame": 1746, "skill": "Pour", "language_memory": "The robot aimed at the table, picked up the kettle, poured water into cups on and below the table, placed the kettle on its base, transferred water from a cup to a plastic box, and picked up a water cup from the table."}, {"action_text": "place the cup on the table", "start_frame": 1746, "end_frame": 1929, "skill": "Place", "language_memory": "The robot has picked up the kettle and two cups, poured water into a cup on the table, a cup below the table, and a plastic box on the left side of the table, and placed the kettle on its base."}, {"action_text": "adjust the robot posture", "start_frame": 1929, "end_frame": 2037, "skill": "AdjustPosture", "language_memory": "The robot has picked up the kettle to pour water into cups on and below the table, emptied the cups into plastic boxes, and returned the kettle to its base."}], "tasks": ["pour water"], "detailed_task_instruction": ["Pick up the kettle and pour water into the cup on the table, then pour water into the cup located below the table. Place the kettle back on its base. Pick up the lower cup from the table and pour its contents into the plastic box on the left side of the table. Next, pick up the water cup currently on the table and pour its contents into the plastic box. Place this cup back on the table. Finally, adjust the robot's posture."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 42, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000042.mp4", "length": 2107, "action_config": [{"action_text": "aim at the table surface", "start_frame": 0, "end_frame": 192, "skill": "Aim", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle", "start_frame": 192, "end_frame": 469, "skill": "Pick", "language_memory": "The robot aimed at the table surface."}, {"action_text": "pour water into the cup on the table", "start_frame": 469, "end_frame": 637, "skill": "Pour", "language_memory": "The robot has aimed at the table surface and picked up the kettle."}, {"action_text": "pour water into the cup under the desk", "start_frame": 637, "end_frame": 875, "skill": "Pour", "language_memory": "The robot aimed at the table surface, picked up the kettle, and poured water into the cup on the table."}, {"action_text": "place the kettle on the base", "start_frame": 875, "end_frame": 1265, "skill": "Place", "language_memory": "The robot aimed at the table surface, picked up the kettle, and poured water into cups located on the table and under the desk."}, {"action_text": "pick up the water cup from the lower side of the table", "start_frame": 1265, "end_frame": 1465, "skill": "Pick", "language_memory": "The robot aimed at the table surface, picked up the kettle, poured water into a cup on the table and another under the desk, and placed the kettle back on its base."}, {"action_text": "pour the water from the cup into the plastic box", "start_frame": 1465, "end_frame": 1568, "skill": "Pour", "language_memory": "The robot aimed at the table surface, picked up the kettle, poured water into cups on and under the table, placed the kettle on its base, and picked up a water cup from the lower side of the table."}, {"action_text": "place the water cup under the table", "start_frame": 1568, "end_frame": 1636, "skill": "Place", "language_memory": "The robot aimed at the table surface, picked up the kettle, poured water into cups on the table and under the desk, placed the kettle on its base, picked up a water cup from the lower side of the table, and poured the water from the cup into a plastic box."}, {"action_text": "pick up the water cup on the table", "start_frame": 1636, "end_frame": 1742, "skill": "Pick", "language_memory": "The robot aimed at the table, picked up the kettle, poured water into cups on the table and under the desk, placed the kettle on its base, picked up a water cup from the lower side of the table, poured the water into a plastic box, and placed the cup under the table."}, {"action_text": "pour the water from the cup into the plastic box", "start_frame": 1742, "end_frame": 1854, "skill": "Pour", "language_memory": "The robot has aimed at the table surface, picked up the kettle and water cups, poured water into cups and a plastic box, and placed the kettle on its base and cups under the table."}, {"action_text": "place the water cup on the table", "start_frame": 1854, "end_frame": 2107, "skill": "Place", "language_memory": "The robot has picked up the kettle and water cups multiple times, poured water into various cups and a plastic box, and placed the kettle on its base and cups under the table or on the table."}], "tasks": ["pour water"], "detailed_task_instruction": ["Pick up the kettle and pour water into the cup on the table, then pour water into the cup under the desk. Place the kettle on its base. Pick up the water cup from the lower side of the table and pour the water from it into the plastic box, placing the cup under the table afterward. Next, pick up the water cup on the table and pour the water from it into the plastic box, finally placing the water cup back on the table."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 43, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000043.mp4", "length": 2132, "action_config": [{"action_text": "adjust the robot posture", "start_frame": 0, "end_frame": 120, "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle", "start_frame": 120, "end_frame": 305, "skill": "Pick", "language_memory": "The robot has adjusted its posture."}, {"action_text": "pour water into the cup on the table", "start_frame": 305, "end_frame": 475, "skill": "Pour", "language_memory": "The robot has adjusted its posture and picked up the kettle."}, {"action_text": "pour water from the kettle into the cup on the desk", "start_frame": 475, "end_frame": 633, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into the cup on the table."}, {"action_text": "place the kettle on the base", "start_frame": 633, "end_frame": 882, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into the cup on the table and desk."}, {"action_text": "pick up the water cup under the table", "start_frame": 882, "end_frame": 1289, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into the cup on the table and desk before placing the kettle back on the base."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1289, "end_frame": 1478, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into the cup on the table and desk, placed the kettle on the base, and picked up the water cup under the table."}, {"action_text": "place the cup under the table", "start_frame": 1478, "end_frame": 1622, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up a kettle and poured water into a cup on the table and desk, placed the kettle on its base, picked up a water cup under the table, and poured the water into a plastic box on the left side of the table."}, {"action_text": "pick up the water cup on the table", "start_frame": 1622, "end_frame": 1791, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into a cup on the table and desk, placed the kettle back on its base, picked up a water cup from under the table, poured the water into a plastic box on the left side of the table, and placed the cup back under the table."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1791, "end_frame": 1874, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into a cup on the table and desk, placed the kettle on its base, retrieved a cup from under the table to pour water into a plastic box, returned the cup under the table, and finally picked up a water cup from the table."}, {"action_text": "place the water cup on the table", "start_frame": 1874, "end_frame": 2055, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into a cup on the table and desk, placed the kettle on its base, and transferred water from two cups into a plastic box on the left side of the table."}, {"action_text": "adjust the robot posture", "start_frame": 2055, "end_frame": 2132, "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into a cup on the table and desk, placed the kettle on its base, and transferred water from two cups into a plastic box on the left side of the table before placing the cups back on the table."}], "tasks": ["pour water"], "detailed_task_instruction": ["Adjust your posture, then pick up the kettle and pour water into a cup on the table. Place the kettle back on its base. Next, retrieve a water cup from under the table and pour its contents into a plastic box on the left side of the table before returning the cup to under the table. Finally, pick up the water cup on the table, pour its contents into the same plastic box on the left side, place the cup back on the table, and adjust your posture."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 44, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000044.mp4", "length": 1638, "action_config": [{"action_text": "adjust the robot posture", "start_frame": 0, "end_frame": 100, "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle", "start_frame": 100, "end_frame": 239, "skill": "Pick", "language_memory": "The robot has adjusted its posture."}, {"action_text": "pour water into the cup under the table", "start_frame": 239, "end_frame": 428, "skill": "Pour", "language_memory": "The robot has adjusted its posture and picked up the kettle."}, {"action_text": "pour water into the cup on the table", "start_frame": 428, "end_frame": 573, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into the cup under the table."}, {"action_text": "place the kettle on the base", "start_frame": 573, "end_frame": 743, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into cups located both under and on the table."}, {"action_text": "move to the water cup", "start_frame": 743, "end_frame": 869, "skill": "Navigate", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups located both under and on the table, and placed the kettle back on its base."}, {"action_text": "pick up the water cup on the table", "start_frame": 869, "end_frame": 1037, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups located both under and on the table, placed the kettle back on its base, and moved to the water cup."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1037, "end_frame": 1120, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups under and on the table, placed the kettle back on the base, moved to a water cup, and picked up the water cup on the table."}, {"action_text": "place the water cup on the table", "start_frame": 1120, "end_frame": 1214, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups under and on the table, placed the kettle back on the base, moved to a water cup, picked it up, and poured its contents into a plastic box on the left side of the table."}, {"action_text": "pick up the water cup on the lower side of the table", "start_frame": 1214, "end_frame": 1355, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups under and on the table, returned the kettle to its base, picked up a water cup, poured its contents into a plastic box, and placed the cup back on the table."}, {"action_text": "pour the water from the cup into the plastic box", "start_frame": 1355, "end_frame": 1446, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into cups under and on the table, returned the kettle to its base, moved to a water cup on the table, picked it up, poured the water into a plastic box on the left side of the table, placed the cup back on the table, and finally picked up another water cup located on the lower side of the table."}, {"action_text": "place the water cup under the table", "start_frame": 1446, "end_frame": 1589, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into cups under and on the table, returned the kettle to its base, then moved to a water cup on the table to pour its contents into a plastic box on the left, placed the cup back, picked up a second water cup from a lower location, and poured its contents into the same plastic box."}, {"action_text": "adjust the robot posture", "start_frame": 1589, "end_frame": 1638, "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into cups under and on the table, returned the kettle to its base, then moved to water cups on the table and under the table to pour their contents into a plastic box, finally placing the cups back on the table and under the table respectively."}], "tasks": ["pour water"], "detailed_task_instruction": ["Adjust your posture, then pick up the kettle to pour water into the cup located under the table and subsequently into the cup on the table. Place the kettle back on its base. Move to the water cup on the table, pick it up, and pour its contents into the plastic box on the left side of the table before placing the cup back on the table. Next, pick up the water cup from the lower side of the table, pour its water into the plastic box, and finally place the cup under the table. Conclude by adjusting your posture."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 45, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000045.mp4", "length": 1754, "action_config": [{"action_text": "move to the table", "start_frame": 0, "end_frame": 105, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle on the table", "start_frame": 105, "end_frame": 241, "skill": "Pick", "language_memory": "The robot has moved to the table."}, {"action_text": "pour the water from the kettle into the cup on the lower side of the table", "start_frame": 241, "end_frame": 382, "skill": "Pour", "language_memory": "The robot has moved to the table and picked up the kettle."}, {"action_text": "pour the water from the kettle into the cup on the table", "start_frame": 382, "end_frame": 514, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup."}, {"action_text": "place the kettle onto the base on the right side of the table", "start_frame": 514, "end_frame": 762, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into two cups on the table."}, {"action_text": "move to the water cup", "start_frame": 762, "end_frame": 901, "skill": "Navigate", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups, and placed the kettle back on its base."}, {"action_text": "pick up the water cup under the table", "start_frame": 901, "end_frame": 1115, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups, and placed the kettle back on its base."}, {"action_text": "pour the water from the cup into the plastic box on the left", "start_frame": 1115, "end_frame": 1201, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and picked up a water cup from under the table."}, {"action_text": "place the water cup under the table", "start_frame": 1201, "end_frame": 1294, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups, placed the kettle back on its base, picked up a water cup from under the table, and poured its contents into a plastic box."}, {"action_text": "pick up the water cup on the table", "start_frame": 1294, "end_frame": 1395, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups, placed the kettle on its base, picked up a water cup from under the table, poured its contents into a plastic box, and returned the cup under the table."}, {"action_text": "pour the water from the cup into the plastic box on the left", "start_frame": 1395, "end_frame": 1483, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups, placed the kettle on its base, moved to the water cup, picked up the cup under the table, poured water into a plastic box, placed the cup back under the table, and finally picked up the water cup on the table."}, {"action_text": "place the water cup on the table", "start_frame": 1483, "end_frame": 1653, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups, placed the kettle on its base, retrieved a cup from under the table, poured its contents into a plastic box, and finally picked up the second cup on the table."}], "tasks": ["pour water"], "detailed_task_instruction": ["Move to the table, pick up the kettle, and pour water into the cup on the lower side of the table, then pour more water into the cup on the table. Place the kettle onto its base on the right side of the table. Next, move to the water cup, pick up the cup under the table, and pour its contents into the plastic box on the left before placing the cup back under the table. Finally, pick up the water cup on the table and pour its contents into the plastic box on the left, then place the cup back on the table."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 46, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000046.mp4", "length": 1761, "action_config": [{"action_text": "adjust the robot posture", "start_frame": 0, "end_frame": 126, "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle", "start_frame": 126, "end_frame": 275, "skill": "Pick", "language_memory": "The robot has adjusted its posture."}, {"action_text": "pour water into the cup under the desk", "start_frame": 275, "end_frame": 424, "skill": "Pour", "language_memory": "The robot has adjusted its posture and picked up the kettle."}, {"action_text": "pour water into the cup on the table", "start_frame": 424, "end_frame": 582, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into the cup under the desk."}, {"action_text": "place the kettle on the base", "start_frame": 582, "end_frame": 843, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into cups located under the desk and on the table."}, {"action_text": "move to the water cup", "start_frame": 843, "end_frame": 942, "skill": "Navigate", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups located under the desk and on the table, and placed the kettle back on its base."}, {"action_text": "pick up the water cup under the table", "start_frame": 942, "end_frame": 1074, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups under the desk and on the table, placed the kettle back on its base, and moved to a water cup."}, {"action_text": "pour the water from the cup into the plastic box", "start_frame": 1074, "end_frame": 1194, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups under the desk and on the table, placed the kettle back on its base, moved to a water cup, and picked up the cup under the table."}, {"action_text": "place the water cup under the table", "start_frame": 1194, "end_frame": 1271, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into cups under the desk and on the table before placing the kettle back on its base. It then moved to the water cup under the table, picked it up, and poured the water into a plastic box."}, {"action_text": "pick up the water cup on the upper side of the table", "start_frame": 1271, "end_frame": 1402, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into cups under the desk and on the table before placing the kettle back on its base. It then moved to the water cup under the table, picked it up, poured the water into a plastic box, and placed the empty cup back under the table."}, {"action_text": "pour the water from the cup into the plastic box", "start_frame": 1402, "end_frame": 1553, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into cups under the desk and on the table, returned the kettle to its base, moved to a water cup under the table to pick it up and pour its contents into a plastic box before placing it back, and finally picked up a water cup on the upper side of the table."}, {"action_text": "place the water cup on the table", "start_frame": 1553, "end_frame": 1695, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into cups under the desk and on the table, returned the kettle to its base, and transferred water from two cups into a plastic box."}, {"action_text": "adjust the robot posture", "start_frame": 1695, "end_frame": 1761, "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into cups under the desk and on the table, returned the kettle to its base, and transferred water from two cups into a plastic box before placing both cups back in their original locations."}], "tasks": ["pour water"], "detailed_task_instruction": ["Adjust your posture, then pick up the kettle to pour water into the cup under the desk and subsequently into the cup on the table. Place the kettle back on its base. Move to the cup under the table, pick it up, and pour its contents into the plastic box before returning it to its original spot. Next, retrieve the water cup from the upper side of the table, pour its contents into the plastic box, and place the cup back on the table. Finally, adjust your posture to complete the task."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 47, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000047.mp4", "length": 1956, "action_config": [{"action_text": "adjust the robot posture", "start_frame": 0, "end_frame": 117, "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle", "start_frame": 117, "end_frame": 272, "skill": "Pick", "language_memory": "The robot has adjusted its posture."}, {"action_text": "pour water into the cup on the table", "start_frame": 272, "end_frame": 402, "skill": "Pour", "language_memory": "The robot has adjusted its posture and picked up the kettle."}, {"action_text": "pour water into the cup under the table", "start_frame": 402, "end_frame": 570, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into the cup on the table."}, {"action_text": "place the kettle on the base", "start_frame": 570, "end_frame": 725, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into cups located on and under the table."}, {"action_text": "pick up the water cup under the table", "start_frame": 725, "end_frame": 1287, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and under the table, and placed the kettle back on the base."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1287, "end_frame": 1374, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and under the table, placed the kettle back on its base, and picked up the water cup under the table."}, {"action_text": "place the cup under the table", "start_frame": 1374, "end_frame": 1478, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and under the table, returned the kettle to its base, retrieved the cup from under the table, and transferred the water into a plastic box on the left side of the table."}, {"action_text": "pick up the water cup on the table", "start_frame": 1478, "end_frame": 1605, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and under the table, returned the kettle to its base, retrieved the cup under the table, transferred its contents to a plastic box, and placed the empty cup back under the table."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1605, "end_frame": 1704, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and under the table, placed the kettle on its base, moved the cup under the table to a plastic box, returned the cup under the table, and picked up the water cup on the table."}, {"action_text": "place the water cup on the table", "start_frame": 1704, "end_frame": 1819, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into cups on and under the table, returned the kettle to its base, and emptied water from both cups into a plastic box on the left side of the table."}, {"action_text": "adjust the robot posture", "start_frame": 1819, "end_frame": 1956, "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into cups on and under the table, returned the kettle to its base, and transferred water from both cups into a plastic box on the left side of the table before placing the cups back on the table."}], "tasks": ["pour water"], "detailed_task_instruction": ["Adjust your posture, then pick up the kettle to pour water into the cup on the table and subsequently into the cup under the table. Place the kettle back on its base. Next, pick up the water cup under the table and pour its contents into the plastic box on the left side of the table before placing the cup back under the table. Then, pick up the water cup on the table and pour its contents into the same plastic box on the left side of the table. Finally, place the water cup back on the table and adjust your posture."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 48, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000048.mp4", "length": 1717, "action_config": [{"action_text": "aim at the table surface", "start_frame": 0, "end_frame": 100, "skill": "Aim", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle", "start_frame": 100, "end_frame": 248, "skill": "Pick", "language_memory": "The robot aimed at the table surface."}, {"action_text": "pour water into the cup on the table", "start_frame": 248, "end_frame": 436, "skill": "Pour", "language_memory": "The robot has aimed at the table surface and picked up the kettle."}, {"action_text": "pour water into the cup under the table", "start_frame": 436, "end_frame": 628, "skill": "Pour", "language_memory": "The robot aimed at the table surface, picked up the kettle, and poured water into the cup on the table."}, {"action_text": "place the kettle on the base", "start_frame": 628, "end_frame": 835, "skill": "Place", "language_memory": "The robot aimed at the table surface, picked up the kettle, and poured water into cups located on and under the table."}, {"action_text": "close the water cup", "start_frame": 835, "end_frame": 999, "skill": "Close", "language_memory": "The robot aimed at the table surface, picked up the kettle, poured water into cups on and under the table, and placed the kettle back on its base."}, {"action_text": "pick up the water cup on the lower side of the table", "start_frame": 999, "end_frame": 1128, "skill": "Pick", "language_memory": "The robot aimed at the table surface, picked up the kettle, poured water into cups on and under the table, placed the kettle on the base, and closed the water cup."}, {"action_text": "pour the water from the cup into the plastic box", "start_frame": 1128, "end_frame": 1191, "skill": "Pour", "language_memory": "The robot aimed at the table, picked up the kettle, poured water into cups on and under the table, placed the kettle on its base, closed a water cup, and picked up the water cup from the lower side of the table."}, {"action_text": "place the cup on the lower side of the table", "start_frame": 1191, "end_frame": 1296, "skill": "Place", "language_memory": "The robot aimed at the table, picked up the kettle, poured water into cups on and under the table, placed the kettle on its base, closed a water cup, picked up a cup from the lower side of the table, and poured its contents into a plastic box."}, {"action_text": "pick up the water cup on the table", "start_frame": 1296, "end_frame": 1398, "skill": "Pick", "language_memory": "The robot aimed at the table, picked up the kettle, poured water into cups on and under the table, placed the kettle on its base, closed a water cup, picked up a cup from under the table, poured its contents into a plastic box, and placed the cup back under the table."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1398, "end_frame": 1486, "skill": "Pour", "language_memory": "The robot has picked up the kettle, poured water into cups on and under the table, placed the kettle on its base, closed a water cup, transferred water from a cup into a plastic box, and is currently holding a water cup on the table."}, {"action_text": "place the water cup on the table", "start_frame": 1486, "end_frame": 1613, "skill": "Place", "language_memory": "The robot has successfully poured water into multiple cups, closed one cup, transferred water from several cups into plastic boxes on the table and under the table, and placed cups back on the table surface."}, {"action_text": "adjust the robot posture", "start_frame": 1613, "end_frame": 1717, "skill": "AdjustPosture", "language_memory": "The robot picked up the kettle to pour water into cups on and under the table, placed the kettle on its base, closed a cup, and transferred water from multiple cups into plastic boxes on the table and its lower side before placing the final cup on the table."}], "tasks": ["pour water"], "detailed_task_instruction": ["Pick up the kettle and pour water into the cup on the table, then pour water into the cup under the table. Place the kettle on its base and close the water cup. Pick up the water cup from the lower side of the table and pour the water into the plastic box. Place the cup back on the lower side of the table. Next, pick up the water cup from the table and pour the water into the plastic box on the left side of the table. Finally, place the water cup on the table and adjust the robot posture."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 49, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000049.mp4", "length": 1862, "action_config": [{"action_text": "adjust the robot posture", "start_frame": 0, "end_frame": 117, "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle", "start_frame": 117, "end_frame": 231, "skill": "Pick", "language_memory": "The robot has adjusted its posture."}, {"action_text": "pour water into the cup on the table", "start_frame": 231, "end_frame": 376, "skill": "Pour", "language_memory": "The robot has adjusted its posture and picked up the kettle."}, {"action_text": "pour water into the cup under the table", "start_frame": 376, "end_frame": 516, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into the cup on the table."}, {"action_text": "place the kettle on the base", "start_frame": 516, "end_frame": 855, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into cups located on and under the table."}, {"action_text": "close the water cup", "start_frame": 855, "end_frame": 1131, "skill": "Close", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and under the table, and placed the kettle back on the base."}, {"action_text": "pick up the water cup on the lower side of the table", "start_frame": 1131, "end_frame": 1276, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and under the table, placed the kettle back on its base, and closed the water cup."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1276, "end_frame": 1364, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and under the table, placed the kettle back on its base, closed a water cup, and picked up another water cup from the lower side of the table."}, {"action_text": "place the cup under the table", "start_frame": 1364, "end_frame": 1456, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up a kettle, poured water into cups on and under the table, placed the kettle back on its base, closed a water cup, picked up a water cup from the lower side of the table, and poured the water from the cup into a plastic box on the left side of the table."}, {"action_text": "pick up the water cup on the table", "start_frame": 1456, "end_frame": 1550, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into cups on and under the table, placed the kettle back, closed a cup, picked up another cup from the lower table side, poured its contents into a plastic box, and finally placed the cup under the table."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1550, "end_frame": 1637, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into cups on and under the table, placed the kettle back, closed a cup, transferred water from a cup into a plastic box, and finally picked up a water cup from the table."}, {"action_text": "place the water cup on the table", "start_frame": 1637, "end_frame": 1763, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into cups on and under the table, placed the kettle back, closed a cup, and emptied water from multiple cups into a plastic box on the left side of the table."}, {"action_text": "adjust the robot posture", "start_frame": 1763, "end_frame": 1862, "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into cups on and under the table, placed the kettle back, closed a cup, and transferred water from multiple cups into a plastic box on the left side of the table before placing the cups back on the table or under it."}], "tasks": ["pour water"], "detailed_task_instruction": ["Adjust the robot posture, then pick up the kettle to pour water into a cup on the table and another cup under the table. Place the kettle back on its base and close the cup on the table. Pick up the cup from the lower side of the table and pour its contents into the plastic box on the left side of the table. Place that cup under the table. Next, pick up the water cup on the table, pour its contents into the same plastic box on the left side of the table, and place the cup back on the table. Finally, adjust the robot posture to complete the task."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 50, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000050.mp4", "length": 1910, "action_config": [{"action_text": "adjust the robot posture", "start_frame": 0, "end_frame": 112, "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle", "start_frame": 112, "end_frame": 237, "skill": "Pick", "language_memory": "The robot has adjusted its posture."}, {"action_text": "pour water into the cup on the table", "start_frame": 237, "end_frame": 378, "skill": "Pour", "language_memory": "The robot has adjusted its posture and picked up the kettle."}, {"action_text": "pour water into the cup below the table", "start_frame": 378, "end_frame": 527, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into the cup on the table."}, {"action_text": "place the kettle on the base", "start_frame": 527, "end_frame": 771, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into cups located both on and below the table."}, {"action_text": "move to the cup", "start_frame": 771, "end_frame": 939, "skill": "Navigate", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into a cup on the table and another below the table, and placed the kettle back on its base."}, {"action_text": "pick up the water cup on the lower side of the table", "start_frame": 939, "end_frame": 1081, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and below the table, placed the kettle back on its base, and moved toward a cup."}, {"action_text": "pour the water from the right-hand cup into the plastic box on the left side of the table", "start_frame": 1081, "end_frame": 1258, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and below the table, placed the kettle back on its base, and picked up a water cup from the lower side of the table."}, {"action_text": "place the water cup on the lower side of the table", "start_frame": 1258, "end_frame": 1367, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and below the table, placed the kettle back on its base, moved to the lower cup, picked it up, and transferred the water from that cup into a plastic box on the left side of the table."}, {"action_text": "pick up the water cup on the table", "start_frame": 1367, "end_frame": 1496, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and below the table, returned the kettle to its base, moved to the lower cup, picked it up, transferred water from the right cup to a plastic box on the left, and placed the cup back on the lower side of the table."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1496, "end_frame": 1618, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up a kettle, poured water into cups on and below the table, placed the kettle on its base, moved to a cup, picked up a cup from below the table, transferred water from a right-hand cup to a plastic box on the left, placed the cup back below the table, and finally picked up a water cup from the table."}, {"action_text": "place the cup on the table", "start_frame": 1618, "end_frame": 1786, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into cups on and below the table, returned the kettle to its base, moved to a lower cup, transferred its contents to a plastic box, placed the cup back, picked up another cup from the table, and poured its contents into the same plastic box."}, {"action_text": "adjust the robot posture", "start_frame": 1786, "end_frame": 1910, "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into cups on and below the table, returned the kettle to its base, moved to a lower cup, transferred water from two cups into a plastic box on the left, and placed the cups back on the table."}], "tasks": ["pour water"], "detailed_task_instruction": ["Adjust your posture, then pick up the kettle to pour water into a cup on the table and another cup below the table. Place the kettle back on its base. Move to the cup below the table, pick it up, and pour its contents into the plastic box on the left side of the table before placing the cup back below the table. Next, pick up the water cup on the table, pour its contents into the same plastic box on the left side, and finally place the cup back on the table. Conclude by adjusting your posture."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 51, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000051.mp4", "length": 2231, "action_config": [{"action_text": "adjust the robot posture", "start_frame": 0, "end_frame": 197, "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle", "start_frame": 197, "end_frame": 453, "skill": "Pick", "language_memory": "The robot has adjusted its posture."}, {"action_text": "pour water into the cup on the table", "start_frame": 453, "end_frame": 641, "skill": "Pour", "language_memory": "The robot has adjusted its posture and picked up the kettle."}, {"action_text": "pour water into the cup below the table", "start_frame": 641, "end_frame": 775, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into the cup on the table."}, {"action_text": "place the kettle on the base", "start_frame": 775, "end_frame": 1048, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into cups located both on and below the table."}, {"action_text": "move to the water cup", "start_frame": 1048, "end_frame": 1251, "skill": "Navigate", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into a cup on the table and another below the table, and placed the kettle back on its base."}, {"action_text": "pick up the water cup on the lower side of the table", "start_frame": 1251, "end_frame": 1486, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and below the table, placed the kettle back on its base, and moved to the water cup."}, {"action_text": "pour the water from the cup into the plastic box", "start_frame": 1486, "end_frame": 1631, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and below the table, placed the kettle back on its base, and picked up a water cup from the lower side of the table."}, {"action_text": "place the water cup on the lower side of the table", "start_frame": 1631, "end_frame": 1726, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and below the table, placed the kettle back on its base, moved to the water cup, picked up the cup from the lower side of the table, and poured the water into a plastic box."}, {"action_text": "pick up the water cup on the table", "start_frame": 1726, "end_frame": 1877, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and below the table, returned the kettle to its base, moved to a water cup, picked up the cup from below the table, poured its contents into a plastic box, and placed the cup back on the lower side of the table."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1877, "end_frame": 1993, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into cups on and below the table, returned the kettle to its base, moved to a water cup, picked up a cup from below the table to pour water into a plastic box, placed the cup back, and finally picked up a water cup from the table."}, {"action_text": "place the water cup on the table", "start_frame": 1993, "end_frame": 2112, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into cups on and below the table, returned the kettle to its base, then moved to pick up water cups from the table and below it to pour their contents into plastic boxes."}, {"action_text": "adjust the robot posture", "start_frame": 2112, "end_frame": 2231, "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into cups on and below the table, returned the kettle to its base, and transferred water from multiple cups into plastic boxes on the table and its lower side."}], "tasks": ["pour water"], "detailed_task_instruction": ["Adjust your posture, then pick up the kettle to pour water into the cup on the table and the cup below the table. Place the kettle back on its base. Move to the lower side of the table, pick up the water cup there, and pour its contents into the plastic box. Return the cup to the lower side of the table. Next, pick up the water cup on the table, pour its contents into the plastic box on the left side of the table, and place the cup back on the table. Finally, adjust your posture to complete the task."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 52, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000052.mp4", "length": 2292, "action_config": [{"action_text": "adjust the robot posture", "start_frame": 0, "end_frame": 101, "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle", "start_frame": 101, "end_frame": 250, "skill": "Pick", "language_memory": "The robot has adjusted its posture."}, {"action_text": "pour water into the cup on the table", "start_frame": 250, "end_frame": 408, "skill": "Pour", "language_memory": "The robot has adjusted its posture and picked up the kettle."}, {"action_text": "pour water into the cup under the table", "start_frame": 408, "end_frame": 632, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into the cup on the table."}, {"action_text": "place the kettle on the base", "start_frame": 632, "end_frame": 969, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into cups located on and under the table."}, {"action_text": "move to the water cup", "start_frame": 969, "end_frame": 1270, "skill": "Navigate", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and under the table, and placed the kettle back on the base."}, {"action_text": "pick up the water cup on the lower side of the table", "start_frame": 1270, "end_frame": 1484, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and under the table, placed the kettle back on its base, and moved to the water cup."}, {"action_text": "pour the water from the cup into the plastic box", "start_frame": 1484, "end_frame": 1568, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and under the table, placed the kettle back on its base, and picked up a water cup from the lower side of the table."}, {"action_text": "place the cup on the lower side of the table", "start_frame": 1568, "end_frame": 1726, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and under the table, placed the kettle back on its base, moved to a water cup, picked up the cup from the lower side of the table, and poured the water into a plastic box."}, {"action_text": "pick up the water cup on the table", "start_frame": 1726, "end_frame": 1851, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up a kettle, poured water into cups on and under the table, returned the kettle to its base, moved to a water cup, picked it up from the lower side of the table, poured the water into a plastic box, and placed the cup back on the lower side of the table."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1851, "end_frame": 1967, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into cups on and under the table, returned the kettle to its base, moved to a water cup, picked up a cup from under the table to pour water into a plastic box, placed the cup back, and finally picked up a water cup from the table."}, {"action_text": "place the water cup on the table", "start_frame": 1967, "end_frame": 2200, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into cups on and under the table, returned the kettle to its base, then moved to pick up water cups from the table and lower side, pouring their contents into plastic boxes before placing the cups back down."}, {"action_text": "adjust the robot posture", "start_frame": 2200, "end_frame": 2292, "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into cups on and under the table, returned the kettle to its base, and transferred water from multiple cups into plastic boxes on the table and its lower side before placing the cups back on the table."}], "tasks": ["pour water"], "detailed_task_instruction": ["Adjust your posture, then pick up the kettle to pour water into a cup on the table and another cup located under the table. Place the kettle back on its base. Move to the cup under the table, pick it up, and pour its contents into a plastic box. Set the cup back down on the lower side of the table. Next, pick up the water cup on the table, pour its water into a plastic box on the left side of the table, and place the cup back on the table. Finally, adjust your posture to complete the task."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 53, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000053.mp4", "length": 1760, "action_config": [{"action_text": "adjust the robot posture", "start_frame": 0, "end_frame": 217, "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle", "start_frame": 217, "end_frame": 329, "skill": "Pick", "language_memory": "The robot has adjusted its posture."}, {"action_text": "pour water into the cup on the table", "start_frame": 329, "end_frame": 432, "skill": "Pour", "language_memory": "The robot has adjusted its posture and picked up the kettle."}, {"action_text": "pour water into the cup below the table", "start_frame": 432, "end_frame": 588, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into the cup on the table."}, {"action_text": "place the kettle on the base", "start_frame": 588, "end_frame": 726, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into cups located both on and below the table."}, {"action_text": "move to the water cup", "start_frame": 726, "end_frame": 959, "skill": "Navigate", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into a cup on the table and another below the table, and placed the kettle back on its base."}, {"action_text": "pick up the water cup on the lower side of the table", "start_frame": 959, "end_frame": 1081, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and below the table, placed the kettle back on its base, and moved to the water cup."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1081, "end_frame": 1170, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and below the table, placed the kettle back on its base, and picked up a water cup from the lower side of the table."}, {"action_text": "place the cup on the lower side of the table", "start_frame": 1170, "end_frame": 1277, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and below the table, returned the kettle to its base, moved to the lower water cup, picked it up, and poured its contents into a plastic box on the left side of the table."}, {"action_text": "pick up the water cup on the table", "start_frame": 1277, "end_frame": 1394, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and below the table, returned the kettle to its base, moved to the lower cup, picked it up, poured its contents into a plastic box on the left, and placed the cup back on the lower side of the table."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1394, "end_frame": 1500, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into cups on and below the table, returned the kettle to its base, moved to a water cup, picked up the cup from below the table, poured its contents into a plastic box, placed the cup back below the table, and finally picked up a water cup from the table."}, {"action_text": "place the water cup on the table", "start_frame": 1500, "end_frame": 1651, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into cups on and below the table, returned the kettle to its base, then moved to a water cup, picked it up from below the table, poured its contents into a plastic box on the left, placed the cup back, picked up another cup from the table, and poured its contents into the same plastic box."}, {"action_text": "adjust the robot posture", "start_frame": 1651, "end_frame": 1760, "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into cups on and below the table, returned the kettle to its base, and transferred water from multiple cups into a plastic box on the left side of the table before placing the cups back on the table."}], "tasks": ["pour water"], "detailed_task_instruction": ["Adjust your posture, then pick up the kettle to pour water into both the cup on the table and the cup below the table. After pouring, place the kettle back on its base. Move to the lower side of the table, pick up the water cup there, and pour its contents into the plastic box on the left side of the table before placing the cup back down. Next, pick up the water cup on the table, pour its contents into the same plastic box on the left side, and finally place the cup back on the table. Conclude the task by adjusting your posture."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 54, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000054.mp4", "length": 1655, "action_config": [{"action_text": "adjust the robot posture", "start_frame": 0, "end_frame": 91, "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle", "start_frame": 91, "end_frame": 222, "skill": "Pick", "language_memory": "The robot has adjusted its posture."}, {"action_text": "pour water into the cup on the table", "start_frame": 222, "end_frame": 382, "skill": "Pour", "language_memory": "The robot has adjusted its posture and picked up the kettle."}, {"action_text": "pour water into the cup under the table", "start_frame": 382, "end_frame": 515, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into the cup on the table."}, {"action_text": "place the kettle on the base", "start_frame": 515, "end_frame": 691, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into cups located on and under the table."}, {"action_text": "close the water cup", "start_frame": 691, "end_frame": 799, "skill": "Close", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and under the table, and placed the kettle back on the base."}, {"action_text": "pick up the water cup on the lower side of the table", "start_frame": 799, "end_frame": 958, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and under the table, placed the kettle back on its base, and closed the water cup."}, {"action_text": "pour the water from the cup into the plastic box", "start_frame": 958, "end_frame": 1126, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and under the table, placed the kettle back on its base, closed a water cup, and picked up another water cup from the lower side of the table."}, {"action_text": "place the cup on the lower side of the table", "start_frame": 1126, "end_frame": 1202, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up a kettle, poured water into cups on and under the table, placed the kettle back on its base, closed a water cup, picked up a water cup from the lower side of the table, and poured the water from the cup into a plastic box."}, {"action_text": "pick up the water cup on the table", "start_frame": 1202, "end_frame": 1344, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up a kettle, poured water into cups on and under the table, placed the kettle back, closed a cup, picked up a cup from under the table, poured its contents into a plastic box, and placed the cup back under the table."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1344, "end_frame": 1432, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into cups on and under the table, placed the kettle back, closed a cup, transferred water from a cup into a plastic box, and picked up another cup from the table."}, {"action_text": "place the cup on the table", "start_frame": 1432, "end_frame": 1576, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into cups on and under the table, placed the kettle back, closed a cup, and transferred water from multiple cups into plastic boxes on the table."}, {"action_text": "adjust the robot posture", "start_frame": 1576, "end_frame": 1655, "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into cups on and under the table, placed the kettle back, closed a cup, and transferred water from multiple cups into plastic boxes on the table and its lower side before placing the cups back."}], "tasks": ["pour water"], "detailed_task_instruction": ["Adjust the robot posture, then pick up the kettle to pour water into a cup on the table and another cup under the table. Place the kettle back on its base and close the first cup. Pick up the cup from under the table and pour its contents into a plastic box, then return the cup to the lower side of the table. Next, pick up the cup from the table, pour its water into a plastic box on the left side of the table, and place the cup back on the table. Finally, adjust the robot posture to complete the task."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 55, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000055.mp4", "length": 1743, "action_config": [{"action_text": "adjust the robot posture", "start_frame": 0, "end_frame": 116, "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle", "start_frame": 116, "end_frame": 260, "skill": "Pick", "language_memory": "The robot has adjusted its posture."}, {"action_text": "pour water into the cup on the table", "start_frame": 260, "end_frame": 418, "skill": "Pour", "language_memory": "The robot has adjusted its posture and picked up the kettle."}, {"action_text": "pour water into the cup under the table", "start_frame": 418, "end_frame": 548, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into the cup on the table."}, {"action_text": "place the kettle on the base", "start_frame": 548, "end_frame": 774, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into cups located on and under the table."}, {"action_text": "move to the cup", "start_frame": 774, "end_frame": 919, "skill": "Navigate", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and under the table, and placed the kettle back on the base."}, {"action_text": "pick up the water cup on the lower side of the table", "start_frame": 919, "end_frame": 1040, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and under the table, placed the kettle back on its base, and moved to a cup."}, {"action_text": "pour the water from the cup into the plastic box", "start_frame": 1040, "end_frame": 1137, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and under the table, placed the kettle back on its base, moved to a cup, and picked up the water cup located on the lower side of the table."}, {"action_text": "place the cup on the lower side of the table", "start_frame": 1137, "end_frame": 1266, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and under the table, placed the kettle back on its base, moved to a lower cup, picked it up, and poured its contents into a plastic box."}, {"action_text": "pick up the water cup on the table", "start_frame": 1266, "end_frame": 1365, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up a kettle, poured water into cups on and under the table, returned the kettle to its base, moved to a cup on the lower side of the table, picked it up, poured the water into a plastic box, and placed the cup back on the lower side of the table."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1365, "end_frame": 1490, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up a kettle, poured water into cups on and under the table, placed the kettle on its base, moved to a cup, picked up a cup from under the table, poured its contents into a plastic box, placed the cup back, and finally picked up a water cup from the table."}, {"action_text": "place the water cup on the table", "start_frame": 1490, "end_frame": 1674, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into cups on and under the table, returned the kettle to its base, moved to a lower cup to pour its contents into a plastic box, placed the cup back, picked up another cup from the table, and poured its contents into a plastic box on the left side of the table."}, {"action_text": "adjust the robot posture", "start_frame": 1674, "end_frame": 1743, "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into cups on and under the table, returned the kettle to its base, moved to a lower cup to pour its contents into a plastic box, placed the cup back, picked up another cup from the table to pour water into a box on the left, and finally placed the cup back on the table."}], "tasks": ["pour water"], "detailed_task_instruction": ["Adjust your posture, then pick up the kettle to pour water into the cup on the table and subsequently into the cup under the table. Place the kettle back on its base. Move to the cup on the lower side of the table, pick it up, and pour its contents into the plastic box before placing the cup back on the lower side. Next, pick up the water cup on the table, pour its water into the plastic box on the left side of the table, and place the cup back on the table. Finally, adjust your posture to complete the task."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 56, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000056.mp4", "length": 1723, "action_config": [{"action_text": "move to the table", "start_frame": 0, "end_frame": 103, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle on the table", "start_frame": 103, "end_frame": 279, "skill": "Pick", "language_memory": "The robot has moved to the table."}, {"action_text": "pour the water from the kettle into the cup on the table", "start_frame": 279, "end_frame": 460, "skill": "Pour", "language_memory": "The robot has moved to the table and picked up the kettle."}, {"action_text": "pour the water from the kettle into the cup on the lower side of the table", "start_frame": 460, "end_frame": 637, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup."}, {"action_text": "place the kettle on the base on the right side of the table", "start_frame": 637, "end_frame": 970, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup on the table and the lower side of the table."}, {"action_text": "move to the cup", "start_frame": 970, "end_frame": 1043, "skill": "Navigate", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base."}, {"action_text": "pick up the water cup under the desk", "start_frame": 1043, "end_frame": 1163, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into the cup on the table and the lower side of the table, and placed the kettle back on its base before moving to the cup."}, {"action_text": "pour the water from the cup into the left plastic box", "start_frame": 1163, "end_frame": 1281, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and under the desk, placed the kettle on its base, and picked up the water cup under the desk."}, {"action_text": "place the water cup under the table", "start_frame": 1281, "end_frame": 1373, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and under the desk, placed the kettle on its base, picked up a water cup under the desk, and poured the water into a left plastic box."}, {"action_text": "pick up the water cup under the table", "start_frame": 1373, "end_frame": 1455, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and under the desk, placed the kettle on its base, picked up a water cup under the desk, poured water into a plastic box, and placed the cup under the table."}, {"action_text": "pour the water from the cup into the left plastic box", "start_frame": 1455, "end_frame": 1535, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, picked up a water cup under the desk, poured water into a plastic box, and returned the cup under the table before picking it up again."}, {"action_text": "place the water cup on the table", "start_frame": 1535, "end_frame": 1723, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, and transferred water from cups into a left plastic box."}], "tasks": ["pour water"], "detailed_task_instruction": ["Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle on its base on the right side of the table. Move to the cup under the desk, pick it up, and pour its contents into the left plastic box. Return the cup under the table, pick it up again, and pour the remaining water into the left plastic box. Finally, place the water cup on the table."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 57, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000057.mp4", "length": 1762, "action_config": [{"action_text": "adjust the robot posture", "start_frame": 0, "end_frame": 99, "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle", "start_frame": 99, "end_frame": 239, "skill": "Pick", "language_memory": "The robot has adjusted its posture."}, {"action_text": "pour water into the cup on the right side of the table", "start_frame": 239, "end_frame": 429, "skill": "Pour", "language_memory": "The robot has adjusted its posture and picked up the kettle."}, {"action_text": "pour water into the cup on the left side of the table", "start_frame": 429, "end_frame": 567, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into the cup on the right side of the table."}, {"action_text": "place the kettle on the base", "start_frame": 567, "end_frame": 769, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into cups on both the left and right sides of the table."}, {"action_text": "move to the water cup", "start_frame": 769, "end_frame": 932, "skill": "Navigate", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on both the left and right sides of the table, and placed the kettle back on the base."}, {"action_text": "pick up the water cup on the left side of the table", "start_frame": 932, "end_frame": 1083, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on both sides of the table, placed the kettle back on the base, and moved to the water cup."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1083, "end_frame": 1206, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into both cups on the table, placed the kettle back on the base, moved to the water cup, and picked up the water cup on the left side of the table."}, {"action_text": "place the water cup on the left side of the table", "start_frame": 1206, "end_frame": 1266, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into both cups on the table, placed the kettle back on the base, moved to the left cup, picked it up, and poured its contents into the plastic box on the left."}, {"action_text": "pick up the water cup on the right side of the table", "start_frame": 1266, "end_frame": 1408, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into both cups on the table, returned the kettle to its base, picked up the left cup, poured its contents into the plastic box, and placed the cup back on the table."}, {"action_text": "pour the water from the cup into the plastic box", "start_frame": 1408, "end_frame": 1550, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into both cups on the table, placed the kettle back, moved to the left cup, picked it up, poured its contents into the plastic box, placed the cup back, and finally picked up the right cup."}, {"action_text": "place the water cup on the right side of the table", "start_frame": 1550, "end_frame": 1687, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into both cups on the table, placed the kettle back, moved to the cups, picked up each cup, poured their contents into the plastic box, and returned both cups to the table."}, {"action_text": "adjust the robot posture", "start_frame": 1687, "end_frame": 1762, "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into cups on both sides of the table before placing the kettle back on the base. It then moved to the cups, picked up each one, poured their contents into plastic boxes on the left and right sides of the table respectively, and returned both cups to their original positions."}], "tasks": ["pour water"], "detailed_task_instruction": ["Adjust your posture, then pick up the kettle to pour water into the cup on the right side of the table, followed by the cup on the left side. Place the kettle back on its base. Move to the left water cup, pick it up, and pour its contents into the plastic box on the left side before placing the cup back down. Next, pick up the water cup on the right side of the table, pour its contents into the plastic box, and return the cup to the right side of the table. Finally, adjust your posture to complete the task."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 58, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000058.mp4", "length": 1495, "action_config": [{"action_text": "adjust the robot posture", "start_frame": 0, "end_frame": 117, "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle", "start_frame": 117, "end_frame": 235, "skill": "Pick", "language_memory": "The robot has adjusted its posture."}, {"action_text": "pour water into the cup on the right side of the table", "start_frame": 235, "end_frame": 379, "skill": "Pour", "language_memory": "The robot has adjusted its posture and picked up the kettle."}, {"action_text": "pour water into the cup on the table", "start_frame": 379, "end_frame": 519, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into the cup on the right side of the table."}, {"action_text": "place the kettle on the base", "start_frame": 519, "end_frame": 676, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into two cups on the table."}, {"action_text": "move to the water cup", "start_frame": 676, "end_frame": 769, "skill": "Navigate", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into two cups on the table, and placed the kettle back on the base."}, {"action_text": "pick up the water cup on the left side of the table", "start_frame": 769, "end_frame": 882, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into two cups on the table, placed the kettle back on the base, and moved to a water cup."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 882, "end_frame": 1007, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into two cups on the table, placed the kettle back on the base, moved to a water cup, and picked up the cup on the left side of the table."}, {"action_text": "place the cup on the left side of the table", "start_frame": 1007, "end_frame": 1069, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on the table, placed the kettle back on the base, moved to the left side of the table, picked up a water cup, and poured its contents into a plastic box."}, {"action_text": "pick up the water cup on the right side of the table", "start_frame": 1069, "end_frame": 1162, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into two cups on the table, placed the kettle back on the base, moved to the left cup, picked it up, poured its contents into a plastic box, and placed the cup back on the left side of the table."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1162, "end_frame": 1260, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into two cups on the table, placed the kettle back on the base, moved to the left cup, picked it up, poured its contents into a plastic box, placed the cup back on the left side, and finally picked up the cup on the right side."}, {"action_text": "place the cup on the right side of the table", "start_frame": 1260, "end_frame": 1419, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into two cups, placed the kettle back, moved to the cups, picked up both cups, and poured the water from each cup into the plastic box on the left side of the table."}, {"action_text": "adjust the robot posture", "start_frame": 1419, "end_frame": 1495, "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into two cups on the table. It then placed the kettle back on the base, moved to the cups, picked up each cup sequentially, poured their contents into a plastic box on the left side of the table, and placed both cups back on the table."}], "tasks": ["pour water"], "detailed_task_instruction": ["Adjust your posture, then pick up the kettle to pour water into the cup on the right side of the table, followed by pouring water into the cup on the table. Place the kettle back on its base. Move to the water cup, pick up the cup on the left side of the table, and pour its contents into the plastic box on the left side of the table before placing the cup back on the left side. Next, pick up the water cup on the right side of the table, pour its contents into the same plastic box on the left side of the table, and place the cup back on the right side. Finally, adjust your posture to complete the task."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 59, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000059.mp4", "length": 1898, "action_config": [{"action_text": "aim at the table surface", "start_frame": 0, "end_frame": 146, "skill": "Aim", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle", "start_frame": 146, "end_frame": 316, "skill": "Pick", "language_memory": "The robot aimed at the table surface."}, {"action_text": "pour water into the cup on the table", "start_frame": 316, "end_frame": 489, "skill": "Pour", "language_memory": "The robot has aimed at the table surface and picked up the kettle."}, {"action_text": "pour water into the cup below the table", "start_frame": 489, "end_frame": 637, "skill": "Pour", "language_memory": "The robot aimed at the table surface, picked up the kettle, and poured water into the cup on the table."}, {"action_text": "place the kettle on the base", "start_frame": 637, "end_frame": 839, "skill": "Place", "language_memory": "The robot aimed at the table surface, picked up the kettle, and poured water into cups located on and below the table."}, {"action_text": "close the water cup", "start_frame": 839, "end_frame": 1020, "skill": "Close", "language_memory": "The robot aimed at the table surface, picked up the kettle, poured water into cups on and below the table, and placed the kettle back on its base."}, {"action_text": "pick up the water cup under the table", "start_frame": 1020, "end_frame": 1239, "skill": "Pick", "language_memory": "The robot aimed at the table surface, picked up the kettle, poured water into cups on and below the table, placed the kettle on the base, and closed the water cup."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1239, "end_frame": 1331, "skill": "Pour", "language_memory": "The robot aimed at the table, picked up the kettle, poured water into cups on and below the table, placed the kettle on its base, closed a water cup, and picked up the water cup under the table."}, {"action_text": "place the water cup under the table", "start_frame": 1331, "end_frame": 1447, "skill": "Place", "language_memory": "The robot aimed at the table, picked up the kettle, poured water into cups on and below the table, placed the kettle on its base, closed a water cup, picked up a cup from under the table, and poured its contents into a plastic box on the left side of the table."}, {"action_text": "pick up the water cup on the top side of the table", "start_frame": 1447, "end_frame": 1568, "skill": "Pick", "language_memory": "The robot aimed at the table, picked up the kettle, poured water into cups on and below the table, placed the kettle on its base, closed a water cup, picked up the cup under the table, poured its contents into a plastic box on the left, and placed the cup back under the table."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1568, "end_frame": 1664, "skill": "Pour", "language_memory": "The robot has aimed at the table, picked up the kettle, poured water into cups on and below the table, placed the kettle on its base, closed a water cup, transferred water from a cup under the table to a plastic box, and picked up a water cup on the table."}, {"action_text": "place the water cup on the table", "start_frame": 1664, "end_frame": 1812, "skill": "Place", "language_memory": "The robot has successfully poured water into cups on and under the table, closed a cup, and emptied water from multiple cups into a plastic box on the left side of the table."}, {"action_text": "adjust the robot posture", "start_frame": 1812, "end_frame": 1898, "skill": "AdjustPosture", "language_memory": "The robot picked up the kettle to pour water into cups on and under the table, placed the kettle on its base, closed a cup, and transferred water from multiple cups into a plastic box on the left side of the table."}], "tasks": ["pour water"], "detailed_task_instruction": ["Pick up the kettle and pour water into the cup on the table, then pour water into the cup below the table. Place the kettle on its base and close the water cup. Pick up the water cup under the table and pour its contents into the plastic box on the left side of the table before placing the cup back under the table. Next, pick up the water cup on the top side of the table and pour its contents into the same plastic box on the left side of the table. Finally, place the water cup on the table and adjust the robot posture."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 60, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000060.mp4", "length": 1803, "action_config": [{"action_text": "adjust the robot posture", "start_frame": 0, "end_frame": 89, "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle", "start_frame": 89, "end_frame": 235, "skill": "Pick", "language_memory": "The robot has adjusted its posture."}, {"action_text": "pour water into the cup on the right side of the table", "start_frame": 235, "end_frame": 355, "skill": "Pour", "language_memory": "The robot has adjusted its posture and picked up the kettle."}, {"action_text": "pour water into the cup on the right side of the table", "start_frame": 355, "end_frame": 543, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into the cup on the right side of the table."}, {"action_text": "place the kettle on the base", "start_frame": 543, "end_frame": 750, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into the cup on the right side of the table."}, {"action_text": "move to the water cup", "start_frame": 750, "end_frame": 1021, "skill": "Navigate", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into the cup on the right side of the table, and placed the kettle back on the base."}, {"action_text": "pick up the water cup on the left side of the table", "start_frame": 1021, "end_frame": 1211, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into the cup on the right side of the table, placed the kettle back on the base, and moved to the water cup."}, {"action_text": "pour the water from the cup into the plastic box", "start_frame": 1211, "end_frame": 1304, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into the cup on the right side of the table, placed the kettle on the base, moved to the water cup, and picked up the water cup on the left side of the table."}, {"action_text": "place the water cup on the table", "start_frame": 1304, "end_frame": 1384, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into the cup on the right side of the table, placed the kettle on the base, moved to the water cup, picked up the water cup on the left side of the table, and poured the water from the cup into the plastic box."}, {"action_text": "pick up the water cup under the table", "start_frame": 1384, "end_frame": 1494, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into a cup on the right side of the table, placed the kettle back on the base, moved to the water cup, picked up the water cup from the left side of the table, poured the water into a plastic box, and placed the water cup back on the table."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1494, "end_frame": 1618, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into a cup on the right side of the table, placed the kettle back, moved to a water cup on the left side to pour its contents into a plastic box, returned the cup to the table, and finally picked up a water cup located under the table."}, {"action_text": "place the water cup under the table", "start_frame": 1618, "end_frame": 1719, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into a cup on the right, placed the kettle back, moved to a water cup on the left to pour its contents into a plastic box, placed the cup back, picked up a water cup under the table, and poured its contents into a plastic box on the left."}, {"action_text": "adjust the robot posture", "start_frame": 1719, "end_frame": 1803, "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into a cup on the right, placed the kettle back, then moved to transfer water from multiple cups into plastic boxes on the left and under the table, finally placing the last cup under the table."}], "tasks": ["pour water"], "detailed_task_instruction": ["Adjust your posture, then pick up the kettle and pour water into the cup on the right side of the table. Place the kettle back on its base. Next, move to the water cup on the left side of the table, pick it up, and pour its contents into the plastic box. Set the cup back on the table. Then, retrieve the water cup located under the table, pour its water into the plastic box on the left side of the table, and return the cup to its position under the table. Finally, adjust your posture to complete the task."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 61, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000061.mp4", "length": 1975, "action_config": [{"action_text": "aim at the table surface", "start_frame": 0, "end_frame": 193, "skill": "Aim", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle", "start_frame": 193, "end_frame": 442, "skill": "Pick", "language_memory": "The robot aimed at the table surface."}, {"action_text": "pour water into the cup on the table", "start_frame": 442, "end_frame": 609, "skill": "Pour", "language_memory": "The robot has aimed at the table surface and picked up the kettle."}, {"action_text": "pour water into the cup below the table", "start_frame": 609, "end_frame": 732, "skill": "Pour", "language_memory": "The robot aimed at the table surface, picked up the kettle, and poured water into the cup on the table."}, {"action_text": "place the kettle on the base", "start_frame": 732, "end_frame": 994, "skill": "Place", "language_memory": "The robot aimed at the table surface, picked up the kettle, and poured water into cups located on and below the table."}, {"action_text": "move to the water cup", "start_frame": 994, "end_frame": 1244, "skill": "Navigate", "language_memory": "The robot aimed at the table surface, picked up the kettle, poured water into cups on and below the table, and placed the kettle back on its base."}, {"action_text": "pick up the water cup on the lower side of the table", "start_frame": 1244, "end_frame": 1393, "skill": "Pick", "language_memory": "The robot aimed at the table surface, picked up the kettle, poured water into cups on and below the table, placed the kettle on its base, and moved to the water cup."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1393, "end_frame": 1480, "skill": "Pour", "language_memory": "The robot aimed at the table, picked up the kettle, poured water into cups on and below the table, placed the kettle on its base, and picked up a water cup from the lower side of the table."}, {"action_text": "place the cup under the table", "start_frame": 1480, "end_frame": 1549, "skill": "Place", "language_memory": "The robot aimed at the table, picked up the kettle, poured water into cups on and below the table, placed the kettle on its base, moved to a water cup, picked it up from below the table, and poured its contents into a plastic box on the left side of the table."}, {"action_text": "pick up the water cup on the table", "start_frame": 1549, "end_frame": 1662, "skill": "Pick", "language_memory": "The robot aimed at the table, picked up the kettle, poured water into cups on and below the table, placed the kettle on its base, moved to the lower water cup, picked it up, poured its contents into a plastic box on the left, and placed the cup under the table."}, {"action_text": "pour the water from the cup into the plastic box", "start_frame": 1662, "end_frame": 1744, "skill": "Pour", "language_memory": "The robot aimed at the table, picked up the kettle, poured water into cups on and below the table, placed the kettle on its base, moved to a water cup, picked up the cup below the table, poured its contents into a plastic box, placed the cup under the table, and picked up the water cup on the table."}, {"action_text": "place the cup on the table", "start_frame": 1744, "end_frame": 1888, "skill": "Place", "language_memory": "The robot has successfully picked up the kettle to pour water into cups on and below the table, placed the kettle on its base, and emptied multiple water cups into a plastic box on the left side of the table."}, {"action_text": "adjust the robot posture", "start_frame": 1888, "end_frame": 1975, "skill": "AdjustPosture", "language_memory": "The robot picked up the kettle to pour water into cups on and below the table, then transferred water from those cups into a plastic box before placing the cups back on the table."}], "tasks": ["pour water"], "detailed_task_instruction": ["Move to the water cup, pick up the water cup on the lower side of the table, and pour the water from the cup into the plastic box on the left side of the table. Then, place the cup under the table. Next, pick up the water cup on the table and pour the water from the cup into the plastic box. Finally, place the cup on the table, adjust the robot posture, pick up the kettle, aim at the table surface, pour water into the cup on the table, pour water into the cup below the table, and place the kettle on the base."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 62, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000062.mp4", "length": 1854, "action_config": [{"action_text": "adjust the robot posture", "start_frame": 0, "end_frame": 150, "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle", "start_frame": 150, "end_frame": 316, "skill": "Pick", "language_memory": "The robot has adjusted its posture."}, {"action_text": "pour water into the cup on the table", "start_frame": 316, "end_frame": 432, "skill": "Pour", "language_memory": "The robot has adjusted its posture and picked up the kettle."}, {"action_text": "pour water into the cup below the table", "start_frame": 432, "end_frame": 591, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into the cup on the table."}, {"action_text": "place the kettle on the base", "start_frame": 591, "end_frame": 834, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into cups located both on and below the table."}, {"action_text": "close the water cup", "start_frame": 834, "end_frame": 1109, "skill": "Close", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into a cup on the table and another below the table, and placed the kettle back on its base."}, {"action_text": "pick up the water cup on the lower side of the table", "start_frame": 1109, "end_frame": 1215, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and below the table, placed the kettle back on its base, and closed the water cup."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1215, "end_frame": 1295, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and below the table, placed the kettle back on its base, closed a water cup, and picked up a water cup from below the table."}, {"action_text": "place the cup under the table", "start_frame": 1295, "end_frame": 1391, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up a kettle, poured water into cups on and below the table, placed the kettle back, closed a cup, picked up a lower cup, and poured its contents into a plastic box."}, {"action_text": "pick up the water cup on the table", "start_frame": 1391, "end_frame": 1500, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into cups on and below the table, returned the kettle to its base, closed a cup, picked up another cup from below the table, poured its contents into a plastic box on the left, and placed the cup under the table."}, {"action_text": "pour the water from the cup into the plastic box", "start_frame": 1500, "end_frame": 1582, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into cups on and below the table, placed the kettle back, closed a cup, transferred water from a cup into a plastic box, and picked up a water cup from the table."}, {"action_text": "place the water cup on the table", "start_frame": 1582, "end_frame": 1732, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into cups on and below the table, placed the kettle back, closed a cup, transferred water from cups into a plastic box, and repositioned cups on and under the table."}, {"action_text": "adjust the robot posture", "start_frame": 1732, "end_frame": 1854, "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into cups on and below the table, placed the kettle back, closed a cup, transferred water from cups into a plastic box, and returned the cups to the table or under it."}], "tasks": ["pour water"], "detailed_task_instruction": ["Adjust your posture, then pick up the kettle to pour water into the cup on the table and subsequently into the cup below the table. Place the kettle back on its base and close the water cup. Pick up the water cup located on the lower side of the table and pour its contents into the plastic box on the left side of the table. Return the cup under the table. Next, pick up the water cup on the table, pour the water from it into the plastic box, and place the cup back on the table. Finally, adjust your posture to complete the task."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 63, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000063.mp4", "length": 1908, "action_config": [{"action_text": "adjust the robot posture", "start_frame": 0, "end_frame": 90, "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle", "start_frame": 90, "end_frame": 358, "skill": "Pick", "language_memory": "The robot has adjusted its posture."}, {"action_text": "pour water into the cup on the table", "start_frame": 358, "end_frame": 509, "skill": "Pour", "language_memory": "The robot has adjusted its posture and picked up the kettle."}, {"action_text": "pour water into the cup under the table", "start_frame": 509, "end_frame": 641, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into the cup on the table."}, {"action_text": "place the kettle on the base", "start_frame": 641, "end_frame": 828, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into cups located on and under the table."}, {"action_text": "move to the water cup", "start_frame": 828, "end_frame": 1042, "skill": "Navigate", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and under the table, and placed the kettle back on the base."}, {"action_text": "pick up the water cup on the lower side of the table", "start_frame": 1042, "end_frame": 1183, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and under the table, placed the kettle back on its base, and moved to the water cup."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1183, "end_frame": 1290, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and under the table, placed the kettle back on its base, and picked up a water cup from the lower side of the table."}, {"action_text": "place the cup under the table", "start_frame": 1290, "end_frame": 1436, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and under the table, returned the kettle to its base, moved to a water cup, picked it up from the lower side of the table, and poured the water into a plastic box on the left side of the table."}, {"action_text": "pick up the water cup on the table", "start_frame": 1436, "end_frame": 1553, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and under the table, returned the kettle to its base, moved to a water cup, picked it up from the lower side of the table, poured the water into a plastic box on the left side of the table, and placed the cup under the table."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1553, "end_frame": 1647, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into cups on and under the table, returned the kettle to its base, moved to a water cup, picked it up from under the table, poured its contents into a plastic box, placed the cup under the table, and finally picked up another water cup from the table."}, {"action_text": "place the cup on the table", "start_frame": 1647, "end_frame": 1846, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into cups on and under the table, returned the kettle to its base, and emptied water from multiple cups into a plastic box on the left side of the table."}, {"action_text": "adjust the robot posture", "start_frame": 1846, "end_frame": 1908, "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into cups on and under the table, returned the kettle to its base, and managed multiple water cups by picking them up, pouring their contents into a plastic box on the left side of the table, and placing them back on the table or under it."}], "tasks": ["pour water"], "detailed_task_instruction": ["Adjust your posture, then pick up the kettle to pour water into the cup on the table and subsequently into the cup under the table. Place the kettle back on its base. Move to the water cup, pick up the cup located on the lower side of the table, and pour its contents into the plastic box on the left side of the table. Place this cup under the table. Next, pick up the water cup on the table, pour its contents into the same plastic box on the left side, and place the cup back on the table. Finally, adjust your posture to complete the task."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 64, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000064.mp4", "length": 1796, "action_config": [{"action_text": "aim at the table surface", "start_frame": 0, "end_frame": 137, "skill": "Aim", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle", "start_frame": 137, "end_frame": 252, "skill": "Pick", "language_memory": "The robot aimed at the table surface."}, {"action_text": "pour water into the cup on the table", "start_frame": 252, "end_frame": 409, "skill": "Pour", "language_memory": "The robot has aimed at the table surface and picked up the kettle."}, {"action_text": "pour water into the cup below the table", "start_frame": 409, "end_frame": 565, "skill": "Pour", "language_memory": "The robot aimed at the table surface, picked up the kettle, and poured water into the cup on the table."}, {"action_text": "place the kettle on the base", "start_frame": 565, "end_frame": 843, "skill": "Place", "language_memory": "The robot aimed at the table surface, picked up the kettle, and poured water into cups located on and below the table."}, {"action_text": "move to the water cup", "start_frame": 843, "end_frame": 1002, "skill": "Navigate", "language_memory": "The robot aimed at the table surface, picked up the kettle, poured water into cups on and below the table, and placed the kettle back on its base."}, {"action_text": "pick up the water cup under the desk", "start_frame": 1002, "end_frame": 1103, "skill": "Pick", "language_memory": "The robot aimed at the table surface, picked up the kettle, poured water into cups on and below the table, placed the kettle on its base, and moved to the water cup."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1103, "end_frame": 1198, "skill": "Pour", "language_memory": "The robot aimed at the table, picked up the kettle, poured water into cups on and below the table, placed the kettle on its base, and picked up a water cup under the desk."}, {"action_text": "place the cup under the table", "start_frame": 1198, "end_frame": 1290, "skill": "Place", "language_memory": "The robot aimed at the table, picked up the kettle, poured water into cups on and below the table, placed the kettle on its base, moved to the water cup, picked up the cup under the desk, and poured the water into a plastic box on the left side of the table."}, {"action_text": "pick up the water cup on the table", "start_frame": 1290, "end_frame": 1383, "skill": "Pick", "language_memory": "The robot aimed at the table, picked up the kettle, poured water into cups on and below the table, placed the kettle on its base, moved to the water cup, picked up the cup under the desk, poured the water into a plastic box on the left side of the table, and placed the cup back under the table."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1383, "end_frame": 1488, "skill": "Pour", "language_memory": "The robot aimed at the table, picked up the kettle, poured water into cups on and below the table, placed the kettle on its base, moved to and picked up a cup under the desk, poured its contents into a plastic box on the table, placed the cup back under the table, and finally picked up the water cup on the table."}, {"action_text": "place the cup on the table", "start_frame": 1488, "end_frame": 1652, "skill": "Place", "language_memory": "The robot picked up the kettle to pour water into cups on and under the table, placed the kettle on its base, and transferred water from multiple cups into a plastic box on the left side of the table."}, {"action_text": "adjust the robot posture", "start_frame": 1652, "end_frame": 1796, "skill": "AdjustPosture", "language_memory": "The robot picked up the kettle to pour water into cups on and under the table, then emptied both cups into a plastic box on the left side of the table before placing the final cup back on the table."}], "tasks": ["pour water"], "detailed_task_instruction": ["Move to the water cup, pick up the water cup under the desk, and pour the water from the cup into the plastic box on the left side of the table. Then, place the cup under the table. Next, pick up the water cup on the table and pour the water from the cup into the plastic box on the left side of the table. After that, place the cup on the table. Aim at the table surface, pick up the kettle, pour water into the cup on the table, and pour water into the cup below the table. Finally, place the kettle on the base and adjust the robot posture."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 65, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000065.mp4", "length": 1596, "action_config": [{"action_text": "adjust the robot posture", "start_frame": 0, "end_frame": 102, "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle", "start_frame": 102, "end_frame": 247, "skill": "Pick", "language_memory": "The robot has adjusted its posture."}, {"action_text": "pour water into the cup on the right side of the table", "start_frame": 247, "end_frame": 378, "skill": "Pour", "language_memory": "The robot has adjusted its posture and picked up the kettle."}, {"action_text": "pour water into the cup on the left side of the table", "start_frame": 378, "end_frame": 494, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into the cup on the right side of the table."}, {"action_text": "place the kettle on the base", "start_frame": 494, "end_frame": 736, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into cups on both the left and right sides of the table."}, {"action_text": "move to the water cup", "start_frame": 736, "end_frame": 809, "skill": "Navigate", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on both the left and right sides of the table, and placed the kettle back on the base."}, {"action_text": "pick up the water cup on the left side of the table", "start_frame": 809, "end_frame": 957, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on both sides of the table, placed the kettle back on the base, and moved to the water cup."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 957, "end_frame": 1031, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into both cups on the table, placed the kettle back on the base, moved to the water cup, and picked up the water cup on the left side of the table."}, {"action_text": "place the water cup on the left side of the table", "start_frame": 1031, "end_frame": 1121, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into both cups on the table, placed the kettle back on the base, moved to the left cup, picked it up, and poured its contents into the plastic box on the left."}, {"action_text": "pick up the water cup on the right side of the table", "start_frame": 1121, "end_frame": 1243, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into both cups on the table, returned the kettle to its base, picked up the left cup, poured its contents into the plastic box, and placed the cup back on the table."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1243, "end_frame": 1335, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into both cups on the table, placed the kettle back, moved to the left cup, picked it up, poured its contents into the plastic box, placed the cup back, and finally picked up the right cup."}, {"action_text": "place the water cup on the right side of the table", "start_frame": 1335, "end_frame": 1494, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into cups on both sides of the table before placing the kettle back on the base. It then moved to the left cup, picked it up, and poured its contents into the plastic box on the left, placing the cup back down. Finally, it picked up the right cup and poured its contents into the same plastic box."}, {"action_text": "adjust the robot posture", "start_frame": 1494, "end_frame": 1596, "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into cups on both sides of the table before placing the kettle back on the base. It then moved to the left cup, poured its contents into the plastic box, and returned it to the table. Finally, it picked up the right cup, poured its contents into the same plastic box, and placed the cup back on the table."}], "tasks": ["pour water"], "detailed_task_instruction": ["Adjust your posture, then pick up the kettle to pour water into the cup on the right side of the table, followed by pouring water into the cup on the left side of the table. Place the kettle back on its base. Move to the water cups, pick up the cup on the left side, and pour its contents into the plastic box on the left side of the table before placing the cup back down. Next, pick up the water cup on the right side of the table and pour its contents into the same plastic box on the left side of the table. Finally, place the cup back on the right side of the table and adjust your posture."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 66, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000066.mp4", "length": 1850, "action_config": [{"action_text": "aim at the table surface", "start_frame": 0, "end_frame": 173, "skill": "Aim", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle", "start_frame": 173, "end_frame": 399, "skill": "Pick", "language_memory": "The robot aimed at the table surface."}, {"action_text": "pour water into the cup on the table", "start_frame": 399, "end_frame": 568, "skill": "Pour", "language_memory": "The robot has aimed at the table surface and picked up the kettle."}, {"action_text": "pour water into the cup under the desk", "start_frame": 568, "end_frame": 740, "skill": "Pour", "language_memory": "The robot aimed at the table surface, picked up the kettle, and poured water into the cup on the table."}, {"action_text": "place the kettle on the base", "start_frame": 740, "end_frame": 934, "skill": "Place", "language_memory": "The robot aimed at the table surface, picked up the kettle, and poured water into cups located on the table and under the desk."}, {"action_text": "close the water cup", "start_frame": 934, "end_frame": 1115, "skill": "Close", "language_memory": "The robot aimed at the table surface, picked up the kettle, poured water into a cup on the table and another under the desk, and placed the kettle back on its base."}, {"action_text": "pick up the water cup on the lower side of the table", "start_frame": 1115, "end_frame": 1241, "skill": "Pick", "language_memory": "The robot aimed at the table surface, picked up the kettle, poured water into cups on the table and under the desk, placed the kettle on the base, and closed the water cup."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1241, "end_frame": 1321, "skill": "Pour", "language_memory": "The robot aimed at the table surface, picked up the kettle, poured water into cups on the table and under the desk, placed the kettle on its base, closed a water cup, and picked up a water cup from the lower side of the table."}, {"action_text": "place the cup on the lower side of the table", "start_frame": 1321, "end_frame": 1427, "skill": "Place", "language_memory": "The robot aimed at the table, picked up the kettle, poured water into cups on and under the table, placed the kettle on its base, closed a water cup, picked up another cup from the lower table side, and poured its contents into a plastic box on the left."}, {"action_text": "pick up the water cup on the table", "start_frame": 1427, "end_frame": 1543, "skill": "Pick", "language_memory": "The robot has picked up the kettle, poured water into cups on the table and under the desk, placed the kettle back on its base, closed a water cup, picked up another cup from the lower side of the table, poured its contents into a plastic box, and placed the cup back on the lower side of the table."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1543, "end_frame": 1608, "skill": "Pour", "language_memory": "The robot has picked up a water cup, poured water into a cup on the table and into a plastic box on the table, and placed the cup back on the table."}, {"action_text": "place the cup on the table", "start_frame": 1608, "end_frame": 1766, "skill": "Place", "language_memory": "The robot picked up the kettle to pour water into cups on the table and under the desk, placed the kettle on its base, closed a cup, and transferred water from multiple cups into a plastic box on the left side of the table."}, {"action_text": "adjust the robot posture", "start_frame": 1766, "end_frame": 1850, "skill": "AdjustPosture", "language_memory": "The robot picked up the kettle to pour water into cups on the table and under the desk, placed the kettle on its base, closed a cup, and transferred water from multiple cups into a plastic box on the left side of the table before placing the cups back on the table."}], "tasks": ["pour water"], "detailed_task_instruction": ["Pick up the kettle and pour water into the cup on the table, then pour water into the cup under the desk. Place the kettle on its base and close the water cup. Pick up the water cup from the lower side of the table and pour the water into the plastic box on the left side of the table. Place the cup back on the lower side of the table. Next, pick up the water cup from the table and pour the water into the plastic box on the left side of the table again. Finally, place the cup on the table and adjust the robot posture."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 67, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000067.mp4", "length": 2195, "action_config": [{"action_text": "move to the table", "start_frame": 0, "end_frame": 182, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle on the table", "start_frame": 182, "end_frame": 354, "skill": "Pick", "language_memory": "The robot has moved to the table."}, {"action_text": "pour the water from the kettle into the cup on the lower side of the table", "start_frame": 354, "end_frame": 523, "skill": "Pour", "language_memory": "The robot has moved to the table and picked up the kettle."}, {"action_text": "pour the water from the kettle into the cup on the table", "start_frame": 523, "end_frame": 673, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup."}, {"action_text": "place the kettle on the base on the right side of the table", "start_frame": 673, "end_frame": 1015, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into two cups on the table."}, {"action_text": "move to the water cup", "start_frame": 1015, "end_frame": 1206, "skill": "Navigate", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups, and placed the kettle back on its base."}, {"action_text": "pick up the water cup under the table", "start_frame": 1206, "end_frame": 1361, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups, and placed the kettle back on its base."}, {"action_text": "pour the water from the cup into the left plastic box", "start_frame": 1361, "end_frame": 1454, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and picked up a water cup from under the table."}, {"action_text": "place the cup under the table", "start_frame": 1454, "end_frame": 1569, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups, placed the kettle on its base, picked up a water cup from under the table, and poured its contents into a left plastic box."}, {"action_text": "pick up the water cup on the table", "start_frame": 1569, "end_frame": 1721, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups, placed the kettle on its base, picked up a water cup from under the table, poured its contents into a left plastic box, and returned the cup under the table."}, {"action_text": "pour the water from the cup into the plastic box on the left", "start_frame": 1721, "end_frame": 1803, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups, placed the kettle on its base, moved to the water cup, picked up a cup under the table, poured water into a plastic box, placed the cup under the table, and picked up the water cup on the table."}, {"action_text": "place the cup on the table", "start_frame": 1803, "end_frame": 2037, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups, placed the kettle on its base, picked up both cups, and poured the water from each cup into the left plastic box."}], "tasks": ["pour water"], "detailed_task_instruction": ["Move to the table, pick up the kettle, and pour water into the cup on the lower side of the table, then pour more water into the cup on the table. Place the kettle on its base on the right side of the table. Next, move to the water cup, pick up the cup under the table, and pour its contents into the left plastic box before placing the cup back under the table. Finally, pick up the water cup on the table, pour its contents into the plastic box on the left, and place the cup back on the table."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 68, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000068.mp4", "length": 1681, "action_config": [{"action_text": "adjust the robot posture", "start_frame": 0, "end_frame": 105, "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle", "start_frame": 105, "end_frame": 262, "skill": "Pick", "language_memory": "The robot has adjusted its posture."}, {"action_text": "pour water into the cup on the right side of the table", "start_frame": 262, "end_frame": 383, "skill": "Pour", "language_memory": "The robot has adjusted its posture and picked up the kettle."}, {"action_text": "pour water into the cup on the left side of the table", "start_frame": 383, "end_frame": 532, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into the cup on the right side of the table."}, {"action_text": "place the kettle on the base", "start_frame": 532, "end_frame": 748, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into cups on both the left and right sides of the table."}, {"action_text": "move to the water cup", "start_frame": 748, "end_frame": 833, "skill": "Navigate", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on both the left and right sides of the table, and placed the kettle back on the base."}, {"action_text": "pick up the water cup on the right side of the table", "start_frame": 833, "end_frame": 1017, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on both sides of the table, placed the kettle back on the base, and moved to the water cup."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1017, "end_frame": 1124, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into both cups on the table, placed the kettle back on the base, moved to the water cup, and picked up the cup on the right side."}, {"action_text": "place the water cup on the right side of the table", "start_frame": 1124, "end_frame": 1207, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into both cups on the table, placed the kettle back on the base, moved to the right-side cup, picked it up, and poured its contents into the plastic box on the left."}, {"action_text": "pick up the water cup on the left side of the table", "start_frame": 1207, "end_frame": 1317, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into both cups on the table, placed the kettle back, moved to the right cup, picked it up, poured its contents into the plastic box on the left, and returned the cup to the right side of the table."}, {"action_text": "pour the water from the cup into the plastic box", "start_frame": 1317, "end_frame": 1419, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into both cups on the table, placed the kettle back, moved to the right cup, picked it up, poured its contents into the plastic box, placed the cup back on the right, and picked up the cup from the left side."}, {"action_text": "place the water cup on the left side of the table", "start_frame": 1419, "end_frame": 1586, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into both cups on the table, placed the kettle back, moved to the cups, picked up the right cup and poured its contents into the left plastic box, placed the right cup back, picked up the left cup, and poured its contents into the plastic box."}, {"action_text": "adjust the robot posture", "start_frame": 1586, "end_frame": 1681, "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into cups on both sides of the table before placing the kettle back on the base. It then moved to the cups, picked up the cup on the right, poured its contents into the plastic box on the left, and placed the cup back on the right. Finally, it picked up the cup on the left, poured its contents into the plastic box, and placed the cup back on the left."}], "tasks": ["pour water"], "detailed_task_instruction": ["Adjust your posture, then pick up the kettle to pour water into the cup on the right side of the table, followed by the cup on the left side. Place the kettle back on its base. Move to the cups and pick up the one on the right side to pour its contents into the plastic box on the left side of the table, then return the cup to the right side. Next, pick up the cup on the left side and pour its water into the same plastic box. Finally, place this cup back on the left side and adjust your posture to complete the task."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 69, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000069.mp4", "length": 1770, "action_config": [{"action_text": "adjust the robot posture", "start_frame": 0, "end_frame": 85, "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle", "start_frame": 85, "end_frame": 205, "skill": "Pick", "language_memory": "The robot has adjusted its posture."}, {"action_text": "pour water into the cup on the table", "start_frame": 205, "end_frame": 329, "skill": "Pour", "language_memory": "The robot has adjusted its posture and picked up the kettle."}, {"action_text": "pour water into the cup under the table", "start_frame": 329, "end_frame": 467, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into the cup on the table."}, {"action_text": "place the kettle on the base", "start_frame": 467, "end_frame": 776, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into cups located on and under the table."}, {"action_text": "close the water cup", "start_frame": 776, "end_frame": 1022, "skill": "Close", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and under the table, and placed the kettle back on the base."}, {"action_text": "pick up the water cup on the lower side of the table", "start_frame": 1022, "end_frame": 1167, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and under the table, placed the kettle back on its base, and closed the water cup."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1167, "end_frame": 1262, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on and under the table, placed the kettle back on its base, closed a water cup, and picked up another water cup from the lower side of the table."}, {"action_text": "place the cup under the table", "start_frame": 1262, "end_frame": 1331, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up a kettle, poured water into cups on and under the table, placed the kettle back on its base, closed a water cup, picked up a water cup from the lower side of the table, and poured the water from the cup into a plastic box on the left side of the table."}, {"action_text": "pick up the water cup on the table", "start_frame": 1331, "end_frame": 1421, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into cups on and under the table, placed the kettle back, closed a cup, picked up another cup from the lower table side, poured its contents into a plastic box, and finally placed the cup under the table."}, {"action_text": "pour the water from the cup into the plastic box", "start_frame": 1421, "end_frame": 1501, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into cups on and under the table, placed the kettle back, closed a cup, transferred water from a cup into a plastic box, and finally picked up a water cup from the table."}, {"action_text": "place the cup on the table", "start_frame": 1501, "end_frame": 1662, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into cups on and under the table, placed the kettle back, closed a cup, transferred water from cups into plastic boxes on the table and under the table, and placed a cup under the table."}, {"action_text": "adjust the robot posture", "start_frame": 1662, "end_frame": 1770, "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up a kettle to pour water into cups on and under the table, placed the kettle back, closed a cup, transferred water from cups into plastic boxes on the table and under the table, and finally placed a cup on the table."}], "tasks": ["pour water"], "detailed_task_instruction": ["Adjust the robot posture, then pick up the kettle to pour water into the cup on the table and subsequently into the cup under the table. Place the kettle back on its base and close the water cup. Pick up the water cup located on the lower side of the table and pour its contents into the plastic box on the left side of the table. Next, place the cup under the table, then pick up the water cup on the table and pour its contents into the plastic box. Finally, place the cup on the table and adjust the robot posture."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 70, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000070.mp4", "length": 1975, "action_config": [{"action_text": "adjust the robot posture", "start_frame": 0, "end_frame": 116, "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle", "start_frame": 116, "end_frame": 344, "skill": "Pick", "language_memory": "The robot has adjusted its posture."}, {"action_text": "pour water into the cup on the right side of the table", "start_frame": 344, "end_frame": 519, "skill": "Pour", "language_memory": "The robot has adjusted its posture and picked up the kettle."}, {"action_text": "pour water into the cup on the left side of the table", "start_frame": 519, "end_frame": 748, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into the cup on the right side of the table."}, {"action_text": "place the kettle on the base", "start_frame": 748, "end_frame": 1002, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into cups on both the left and right sides of the table."}, {"action_text": "close the water cup", "start_frame": 1002, "end_frame": 1133, "skill": "Close", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on both the left and right sides of the table, and placed the kettle back on the base."}, {"action_text": "pick up the water cup on the left side of the table", "start_frame": 1133, "end_frame": 1269, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on both sides of the table, placed the kettle back on the base, and closed the water cup."}, {"action_text": "pour the water from the cup into the plastic box", "start_frame": 1269, "end_frame": 1385, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into both cups on the table, placed the kettle back on the base, closed a water cup, and picked up the water cup from the left side of the table."}, {"action_text": "place the cup on the left side of the table", "start_frame": 1385, "end_frame": 1472, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into both cups on the table, placed the kettle back on the base, closed a water cup, picked up the left cup, and poured its contents into a plastic box."}, {"action_text": "pick up the water cup on the right side of the table", "start_frame": 1472, "end_frame": 1639, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into both cups on the table, placed the kettle back, closed a cup, transferred water from the left cup into a plastic box, and returned the cup to the left side of the table."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1639, "end_frame": 1732, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into both cups on the table, placed the kettle back, closed a cup, transferred water from the left cup to a plastic box, and picked up the right cup."}, {"action_text": "place the cup on the right side of the table", "start_frame": 1732, "end_frame": 1881, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into both cups on the table, placed the kettle back, closed the left cup, transferred water from both cups into plastic boxes, and returned the cups to the table."}, {"action_text": "adjust the robot posture", "start_frame": 1881, "end_frame": 1975, "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on both sides of the table, placed the kettle on the base, closed the cups, and transferred water from both cups into a plastic box before returning the cups to their original positions."}], "tasks": ["pour water"], "detailed_task_instruction": ["Adjust your posture, then pick up the kettle to pour water into the cup on the right side of the table, followed by the cup on the left side. Place the kettle back on its base and close the water cup. Next, pick up the water cup on the left side of the table and pour its contents into the plastic box, then return the cup to the left side of the table. Similarly, pick up the water cup on the right side of the table, pour its contents into the plastic box on the left side of the table, and place the cup back on the right side of the table. Finally, adjust your posture to complete the task."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 71, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000071.mp4", "length": 1471, "action_config": [{"action_text": "aim at the table surface", "start_frame": 0, "end_frame": 86, "skill": "Aim", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle", "start_frame": 86, "end_frame": 208, "skill": "Pick", "language_memory": "The robot aimed at the table surface."}, {"action_text": "pour water into the cup on the right side of the table", "start_frame": 208, "end_frame": 333, "skill": "Pour", "language_memory": "The robot has aimed at the table surface and picked up the kettle."}, {"action_text": "pour water into the cup on the left side of the table", "start_frame": 333, "end_frame": 463, "skill": "Pour", "language_memory": "The robot aimed at the table surface, picked up the kettle, and poured water into the cup on the right side of the table."}, {"action_text": "place the kettle on the base", "start_frame": 463, "end_frame": 691, "skill": "Place", "language_memory": "The robot picked up the kettle and poured water into two cups on the table."}, {"action_text": "move to the water cup", "start_frame": 691, "end_frame": 783, "skill": "Navigate", "language_memory": "The robot aimed at the table surface, picked up the kettle, poured water into both cups on the table, and placed the kettle back on the base."}, {"action_text": "pick up the water cup on the left side of the table", "start_frame": 783, "end_frame": 941, "skill": "Pick", "language_memory": "The robot picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 941, "end_frame": 1020, "skill": "Pour", "language_memory": "The robot aimed at the table, picked up the kettle, poured water into both cups on the table, placed the kettle back on its base, moved to the water cup, and picked up the water cup on the left side of the table."}, {"action_text": "place the cup on the left side of the table", "start_frame": 1020, "end_frame": 1096, "skill": "Place", "language_memory": "The robot aimed at the table, picked up the kettle, poured water into both cups on the table, placed the kettle back on its base, moved to the left cup, picked it up, and poured its contents into the plastic box on the left."}, {"action_text": "pick up the water cup on the right side of the table", "start_frame": 1096, "end_frame": 1211, "skill": "Pick", "language_memory": "The robot picked up the kettle, poured water into both cups on the table, returned the kettle to its base, then picked up the left cup, poured its contents into the plastic box, and placed the cup back on the table."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1211, "end_frame": 1278, "skill": "Pour", "language_memory": "The robot picked up the kettle, poured water into both cups on the table, placed the kettle back, moved to the left cup, poured its contents into the plastic box, and returned the cup to the table before picking up the right cup."}, {"action_text": "place the cup on the right side of the table", "start_frame": 1278, "end_frame": 1407, "skill": "Place", "language_memory": "The robot picked up the kettle to pour water into two cups on the table, then emptied the contents of both cups into a plastic box on the left side."}, {"action_text": "adjust the robot posture", "start_frame": 1407, "end_frame": 1471, "skill": "AdjustPosture", "language_memory": "The robot picked up the kettle to pour water into two cups on the table, then emptied the contents of both cups into a plastic box and returned them to their original positions."}], "tasks": ["pour water"], "detailed_task_instruction": ["Aim at the table surface, pick up the kettle, and pour water into the cup on the right side of the table, followed by pouring water into the cup on the left side of the table. Place the kettle on its base. Move to the water cup, pick up the water cup on the left side of the table, and pour the water from the cup into the plastic box on the left side of the table. Place the cup on the left side of the table. Pick up the water cup on the right side of the table, pour the water from the cup into the plastic box on the left side of the table, and place the cup on the right side of the table. Finally, adjust the robot posture."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 72, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000072.mp4", "length": 1757, "action_config": [{"action_text": "adjust the robot posture", "start_frame": 0, "end_frame": 78, "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle", "start_frame": 78, "end_frame": 279, "skill": "Pick", "language_memory": "The robot has adjusted its posture."}, {"action_text": "pour water into the cup on the right side of the table", "start_frame": 279, "end_frame": 441, "skill": "Pour", "language_memory": "The robot has adjusted its posture and picked up the kettle."}, {"action_text": "pour water into the cup on the left side of the table", "start_frame": 441, "end_frame": 601, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into the cup on the right side of the table."}, {"action_text": "place the kettle on the base", "start_frame": 601, "end_frame": 820, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into cups on both the left and right sides of the table."}, {"action_text": "move to the water cup", "start_frame": 820, "end_frame": 944, "skill": "Navigate", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on both the left and right sides of the table, and placed the kettle back on the base."}, {"action_text": "pick up the water cup on the left side of the table", "start_frame": 944, "end_frame": 1088, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on both sides of the table, placed the kettle back on the base, and moved to the water cup."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1088, "end_frame": 1195, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into both cups on the table, placed the kettle back on the base, moved to the water cup, and picked up the water cup on the left side of the table."}, {"action_text": "place the water cup on the left side of the table", "start_frame": 1195, "end_frame": 1312, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into both cups on the table, placed the kettle back on the base, moved to the left cup, picked it up, and poured its contents into the plastic box on the left."}, {"action_text": "pick up the water cup on the right side of the table", "start_frame": 1312, "end_frame": 1442, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into both cups on the table, returned the kettle to its base, picked up the left cup, poured its contents into the plastic box, and placed the cup back on the table."}, {"action_text": "pour the water from the cup into the plastic box", "start_frame": 1442, "end_frame": 1529, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into both cups on the table, placed the kettle back, moved to the left cup, picked it up, poured its contents into the plastic box, placed the cup back, and finally picked up the right cup."}, {"action_text": "place the cup on the right side of the table", "start_frame": 1529, "end_frame": 1684, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into both cups on the table, placed the kettle back, moved to the cups, picked up each cup, poured their contents into the plastic box, and returned both cups to the table."}, {"action_text": "adjust the robot posture", "start_frame": 1684, "end_frame": 1757, "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into cups on both sides of the table before placing the kettle back on the base. It then moved to the left cup, picked it up, poured its contents into the left plastic box, and returned it to the table. Finally, the robot picked up the right cup, poured its contents into the plastic box, and placed the cup back on the right side of the table."}], "tasks": ["pour water"], "detailed_task_instruction": ["Adjust your posture, then pick up the kettle to pour water into the cup on the right side of the table, followed by the cup on the left side. Place the kettle back on its base. Move to the left water cup, pick it up, and pour its contents into the plastic box on the left side before placing the cup back down. Next, pick up the water cup on the right side of the table, pour the water into the plastic box, and place the cup back on the right side of the table. Finally, adjust your posture to complete the task."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 73, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000073.mp4", "length": 1715, "action_config": [{"action_text": "adjust the robot posture", "start_frame": 0, "end_frame": 81, "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle", "start_frame": 81, "end_frame": 242, "skill": "Pick", "language_memory": "The robot has adjusted its posture."}, {"action_text": "pour water into the cup on the right side of the table", "start_frame": 242, "end_frame": 372, "skill": "Pour", "language_memory": "The robot has adjusted its posture and picked up the kettle."}, {"action_text": "pour water into the cup on the left side of the table", "start_frame": 372, "end_frame": 497, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into the cup on the right side of the table."}, {"action_text": "place the kettle on the base", "start_frame": 497, "end_frame": 773, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into cups on both the left and right sides of the table."}, {"action_text": "close the water cup", "start_frame": 773, "end_frame": 932, "skill": "Close", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on both the left and right sides of the table, and placed the kettle back on the base."}, {"action_text": "pick up the water cup on the left side of the table", "start_frame": 932, "end_frame": 1079, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on both sides of the table, placed the kettle back on the base, and closed the water cup."}, {"action_text": "pour the water from the cup into the plastic box", "start_frame": 1079, "end_frame": 1159, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into both cups on the table, placed the kettle back on the base, closed a water cup, and picked up the water cup from the left side of the table."}, {"action_text": "place the cup on the left side of the table", "start_frame": 1159, "end_frame": 1278, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into both cups on the table, placed the kettle back on the base, closed a water cup, picked up the left cup, and poured its contents into a plastic box."}, {"action_text": "pick up the water cup on the right side of the table", "start_frame": 1278, "end_frame": 1405, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into both cups on the table, placed the kettle back, closed a cup, transferred water from the left cup into a plastic box, and returned the cup to the left side of the table."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1405, "end_frame": 1480, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into both cups on the table, placed the kettle back, closed a cup, transferred water from the left cup to a plastic box, and picked up the right cup."}, {"action_text": "place the water cup on the right side of the table", "start_frame": 1480, "end_frame": 1618, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into both cups on the table, placed the kettle back, closed the left cup, transferred water from both cups into plastic boxes, and returned the cups to the table."}, {"action_text": "adjust the robot posture", "start_frame": 1618, "end_frame": 1715, "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into both cups on the table, placed the kettle back, closed the cups, and emptied the contents of both cups into a plastic box before returning the cups to their original positions."}], "tasks": ["pour water"], "detailed_task_instruction": ["Adjust your posture, then pick up the kettle to pour water into the cup on the right side of the table, followed by the cup on the left side. Place the kettle back on its base and close the water cup. Next, pick up the water cup on the left side of the table and pour its contents into the plastic box, then return the cup to the left side of the table. Finally, pick up the water cup on the right side of the table, pour its contents into the plastic box on the left side of the table, and place the cup back on the right side of the table before adjusting your posture."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 74, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000074.mp4", "length": 1981, "action_config": [{"action_text": "adjust the robot posture", "start_frame": 0, "end_frame": 87, "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle", "start_frame": 87, "end_frame": 231, "skill": "Pick", "language_memory": "The robot has adjusted its posture."}, {"action_text": "pour water into the cup on the right side of the table", "start_frame": 231, "end_frame": 396, "skill": "Pour", "language_memory": "The robot has adjusted its posture and picked up the kettle."}, {"action_text": "pour water into the cup on the left side of the table", "start_frame": 396, "end_frame": 512, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into the cup on the right side of the table."}, {"action_text": "place the kettle on the base", "start_frame": 512, "end_frame": 681, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into cups on both the left and right sides of the table."}, {"action_text": "move to the water cup", "start_frame": 681, "end_frame": 980, "skill": "Navigate", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on both the left and right sides of the table, and placed the kettle back on the base."}, {"action_text": "pick up the water cup on the left side of the table", "start_frame": 980, "end_frame": 1126, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on both sides of the table, placed the kettle back on the base, and moved to the water cup."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1126, "end_frame": 1207, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into both cups on the table, placed the kettle back on the base, moved to the water cup, and picked up the water cup on the left side of the table."}, {"action_text": "place the water cup on the left side of the table", "start_frame": 1207, "end_frame": 1352, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into both cups on the table, placed the kettle back on the base, moved to the left cup, picked it up, and poured its contents into the plastic box on the left."}, {"action_text": "pick up the water cup on the right side of the table", "start_frame": 1352, "end_frame": 1574, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into both cups on the table, returned the kettle to its base, picked up the left cup, poured its contents into the plastic box, and placed the cup back on the table."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1574, "end_frame": 1659, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into both cups on the table, placed the kettle back, moved to the left cup, picked it up, poured its contents into the plastic box, placed the cup back, and finally picked up the right cup."}, {"action_text": "place the cup on the right side of the table", "start_frame": 1659, "end_frame": 1855, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into cups on both sides of the table before placing the kettle back on the base. It then moved to the left cup, picked it up, and poured its contents into the plastic box on the left, placing the cup back down. Finally, it picked up the right cup and poured its contents into the same plastic box."}, {"action_text": "adjust the robot posture", "start_frame": 1855, "end_frame": 1981, "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into cups on both sides of the table before placing the kettle back on the base. It then moved to the left cup, picked it up, and poured its contents into the plastic box on the left before returning the cup. Finally, the robot picked up the right cup, poured its contents into the same plastic box, and placed the cup back on the right side of the table."}], "tasks": ["pour water"], "detailed_task_instruction": ["Adjust your posture, then pick up the kettle to pour water into the cup on the right side of the table, followed by pouring water into the cup on the left side of the table. Place the kettle back on its base. Move to the water cups, pick up the cup on the left side, and pour its contents into the plastic box on the left side of the table before placing the cup back down. Next, pick up the water cup on the right side of the table and pour its contents into the same plastic box on the left side of the table. Finally, place the cup back on the right side of the table and adjust your posture."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 75, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000075.mp4", "length": 1598, "action_config": [{"action_text": "adjust the robot posture", "start_frame": 0, "end_frame": 147, "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle", "start_frame": 147, "end_frame": 283, "skill": "Pick", "language_memory": "The robot has adjusted its posture."}, {"action_text": "pour water into the cup on the right side of the table", "start_frame": 283, "end_frame": 401, "skill": "Pour", "language_memory": "The robot has adjusted its posture and picked up the kettle."}, {"action_text": "pour water into the cup on the left side of the table", "start_frame": 401, "end_frame": 549, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into the cup on the right side of the table."}, {"action_text": "place the kettle on the base", "start_frame": 549, "end_frame": 822, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into cups on both the left and right sides of the table."}, {"action_text": "move to the water cup", "start_frame": 822, "end_frame": 874, "skill": "Navigate", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on both the left and right sides of the table, and placed the kettle back on the base."}, {"action_text": "pick up the water cup on the left side of the table", "start_frame": 874, "end_frame": 981, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on both sides of the table, placed the kettle back on the base, and moved to the water cup."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 981, "end_frame": 1070, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into both cups on the table, placed the kettle back on the base, moved to the water cup, and picked up the water cup on the left side of the table."}, {"action_text": "place the water cup on the left side of the table", "start_frame": 1070, "end_frame": 1162, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into both cups on the table, placed the kettle back on the base, moved to the left cup, picked it up, and poured its contents into the plastic box on the left."}, {"action_text": "pick up the water cup on the right side of the table", "start_frame": 1162, "end_frame": 1286, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into both cups on the table, returned the kettle to its base, picked up the left cup, poured its contents into the plastic box, and placed the cup back on the table."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1286, "end_frame": 1357, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into both cups on the table, placed the kettle back, moved to the left cup, picked it up, poured its contents into the plastic box, placed the cup back, and finally picked up the right cup."}, {"action_text": "place the cup on the right side of the table", "start_frame": 1357, "end_frame": 1490, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into cups on both sides of the table before placing the kettle back on the base. It then moved to the left cup, picked it up, and poured its contents into the plastic box on the left, placing the cup back down. Finally, it picked up the right cup and poured its contents into the same plastic box."}, {"action_text": "adjust the robot posture", "start_frame": 1490, "end_frame": 1598, "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into cups on both sides of the table before placing the kettle back on the base. It then moved to the left cup, picked it up, and poured its contents into the plastic box on the left before returning the cup. Finally, the robot picked up the right cup, poured its contents into the same plastic box, and placed the cup back on the right side of the table."}], "tasks": ["pour water"], "detailed_task_instruction": ["Adjust your posture, then pick up the kettle to pour water into the cup on the right side of the table, followed by pouring water into the cup on the left side of the table. Place the kettle back on its base. Move to the water cups, pick up the cup on the left side, and pour its contents into the plastic box on the left side of the table before placing the cup back down. Next, pick up the water cup on the right side of the table and pour its contents into the same plastic box on the left side of the table. Finally, place the cup back on the right side of the table and adjust your posture."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 76, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000076.mp4", "length": 1721, "action_config": [{"action_text": "adjust the robot posture", "start_frame": 0, "end_frame": 113, "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle", "start_frame": 113, "end_frame": 269, "skill": "Pick", "language_memory": "The robot has adjusted its posture."}, {"action_text": "pour water into the cup on the right side of the table", "start_frame": 269, "end_frame": 412, "skill": "Pour", "language_memory": "The robot has adjusted its posture and picked up the kettle."}, {"action_text": "pour water into the cup on the left side of the table", "start_frame": 412, "end_frame": 546, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into the cup on the right side of the table."}, {"action_text": "place the kettle on the base", "start_frame": 546, "end_frame": 743, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into cups on both the left and right sides of the table."}, {"action_text": "close the water cup", "start_frame": 743, "end_frame": 822, "skill": "Close", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on both the left and right sides of the table, and placed the kettle back on the base."}, {"action_text": "pick up the water cup on the left side of the table", "start_frame": 822, "end_frame": 1021, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on both sides of the table, placed the kettle back on the base, and closed the water cup."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1021, "end_frame": 1104, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into both cups on the table, placed the kettle back on the base, closed a water cup, and picked up the water cup from the left side of the table."}, {"action_text": "place the water cup on the left side of the table", "start_frame": 1104, "end_frame": 1222, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into both cups on the table, placed the kettle back on the base, closed a water cup, picked up the left cup, and poured its contents into the plastic box on the left."}, {"action_text": "pick up the water cup on the right side of the table", "start_frame": 1222, "end_frame": 1410, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into both cups on the table, placed the kettle back, closed a cup, picked up the left cup, poured its contents into the plastic box, and placed the cup back on the table."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1410, "end_frame": 1507, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into both cups on the table, placed the kettle back, closed a cup, transferred water from the left cup to a plastic box, and picked up the right cup."}, {"action_text": "place the cup on the right side of the table", "start_frame": 1507, "end_frame": 1603, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into both cups on the table, placed the kettle back, closed the left cup, and transferred the contents of both cups into the plastic box on the left side of the table."}, {"action_text": "adjust the robot posture", "start_frame": 1603, "end_frame": 1721, "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on both sides of the table, placed the kettle on the base, closed the cups, and transferred the water from both cups into the plastic box on the left side of the table before placing the cups back on the table."}], "tasks": ["pour water"], "detailed_task_instruction": ["Adjust your posture, then pick up the kettle to pour water into the cup on the right side of the table, followed by the cup on the left side. Place the kettle back on its base and close the left water cup. Pick up the left cup and pour its contents into the plastic box on the left side of the table, then set the cup down. Next, pick up the right water cup and pour its contents into the same plastic box on the left side of the table. Finally, place the right cup back on the table and adjust your posture to complete the task."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 77, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000077.mp4", "length": 2352, "action_config": [{"action_text": "adjust the robot posture", "start_frame": 0, "end_frame": 168, "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle", "start_frame": 168, "end_frame": 311, "skill": "Pick", "language_memory": "The robot has adjusted its posture."}, {"action_text": "pour water into the cup on the right side of the table", "start_frame": 311, "end_frame": 485, "skill": "Pour", "language_memory": "The robot has adjusted its posture and picked up the kettle."}, {"action_text": "place the kettle on the base", "start_frame": 485, "end_frame": 619, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, and poured water into the cup on the right side of the table."}, {"action_text": "pick up the kettle", "start_frame": 619, "end_frame": 828, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into the cup on the right side of the table, and placed the kettle back on the base."}, {"action_text": "pour water into the cup on the left side of the table", "start_frame": 828, "end_frame": 990, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into the cup on the right side of the table, placed the kettle on the base, and picked up the kettle again."}, {"action_text": "place the kettle on the base", "start_frame": 990, "end_frame": 1177, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on both the right and left sides of the table, and placed the kettle back on the base."}, {"action_text": "close the water cup", "start_frame": 1177, "end_frame": 1342, "skill": "Close", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on both the right and left sides of the table, and returned the kettle to the base."}, {"action_text": "pick up the water cup on the left side of the table", "start_frame": 1342, "end_frame": 1498, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle twice to pour water into cups on both the right and left sides of the table, returned the kettle to the base, and closed a water cup."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1498, "end_frame": 1599, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle, poured water into cups on both sides of the table, placed the kettle back on the base, closed a water cup, and picked up the water cup on the left side of the table."}, {"action_text": "place the cup on the left side of the table", "start_frame": 1599, "end_frame": 1737, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle twice to pour water into cups on both sides of the table, placed the kettle back on the base, closed a water cup, picked up the left cup, and poured its contents into the plastic box on the left."}, {"action_text": "pick up the water cup on the right side of the table", "start_frame": 1737, "end_frame": 1896, "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the kettle twice to pour water into cups on both sides of the table, placed the kettle back on the base, closed a water cup, picked up the left cup, poured its contents into a plastic box, and placed the cup back on the table."}, {"action_text": "pour the water from the cup into the plastic box on the left side of the table", "start_frame": 1896, "end_frame": 1997, "skill": "Pour", "language_memory": "The robot adjusted its posture, picked up the kettle twice to pour water into cups on both sides of the table, placed the kettle on the base, closed the right water cup, and poured the water from the left cup into a plastic box before picking up the right water cup."}, {"action_text": "place the water cup on the right side of the table", "start_frame": 1997, "end_frame": 2141, "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the kettle twice to pour water into cups on both sides of the table, placed the kettle on the base, closed the right cup, and emptied the contents of both cups into the plastic box on the left side of the table."}, {"action_text": "adjust the robot posture", "start_frame": 2141, "end_frame": 2352, "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up the kettle twice to pour water into cups on both sides of the table, placed the kettle on the base, closed a water cup, and transferred water from both cups into a plastic box on the left side of the table."}], "tasks": ["pour water"], "detailed_task_instruction": ["Adjust your posture, then pick up the kettle and pour water into the cup on the right side of the table. Return the kettle to its base, pick it up again, and pour water into the cup on the left side of the table before placing the kettle back on the base. Close the water cup, then pick up the cup on the left side and pour its contents into the plastic box on the left side of the table. Place that cup back on the left side of the table. Next, pick up the water cup on the right side of the table and pour its contents into the same plastic box on the left side of the table. Finally, place the water cup back on the right side of the table and adjust your posture."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 78, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000078.mp4", "length": 1951, "action_config": [{"action_text": "move to the table", "start_frame": 0, "end_frame": 128, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle on the table", "start_frame": 128, "end_frame": 321, "skill": "Pick", "language_memory": "The robot has moved to the table."}, {"action_text": "pour the water from the kettle into the cup on the right side of the table", "start_frame": 321, "end_frame": 493, "skill": "Pour", "language_memory": "The robot has moved to the table and picked up the kettle."}, {"action_text": "pour the water from the kettle into the cup on the left side of the table", "start_frame": 493, "end_frame": 658, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup."}, {"action_text": "place the kettle on the base on the right side of the table", "start_frame": 658, "end_frame": 928, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into both cups on the table."}, {"action_text": "move to the water cup", "start_frame": 928, "end_frame": 1030, "skill": "Navigate", "language_memory": "The robot moved to the table, picked up the kettle, poured water into both cups on the table, and placed the kettle back on its base."}, {"action_text": "pick up the water cup on the left side of the table", "start_frame": 1030, "end_frame": 1176, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into both cups on the table, and placed the kettle back on its base before moving toward a water cup."}, {"action_text": "pour the water from the cup into the plastic box", "start_frame": 1176, "end_frame": 1282, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into both cups on the table, placed the kettle back on its base, and picked up the water cup from the left side."}, {"action_text": "place the water cup under the table", "start_frame": 1282, "end_frame": 1371, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into both cups on the table, placed the kettle back on its base, picked up the left cup, and poured its contents into the plastic box."}, {"action_text": "pick up the water cup on the right side of the table", "start_frame": 1371, "end_frame": 1496, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into both cups on the table, placed the kettle on its base, picked up the left cup, poured its contents into a plastic box, and placed the cup under the table."}, {"action_text": "pour the water from the cup into the left plastic box", "start_frame": 1496, "end_frame": 1641, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into both cups, placed the kettle on its base, picked up the left cup, poured its contents into a plastic box, placed the cup under the table, and finally picked up the right cup."}, {"action_text": "place the water cup on the right side of the table", "start_frame": 1641, "end_frame": 1849, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into both cups, placed the kettle on its base, picked up both cups, and poured the water from each cup into plastic boxes."}], "tasks": ["pour water"], "detailed_task_instruction": ["Move to the table, pick up the kettle, and pour water into the cup on the right side of the table, then pour water into the cup on the left side of the table. Place the kettle on the base on the right side of the table. Move to the water cup, pick up the water cup on the left side of the table, and pour the water from the cup into the plastic box. Place the water cup under the table. Pick up the water cup on the right side of the table, pour the water from the cup into the left plastic box, and place the water cup on the right side of the table."]}
{"task_id": "Pour_Water20250708_006", "episode_index": 79, "video_path": "Pour_Water20250708_006/videos/chunk-000/{video_key}/episode_000079.mp4", "length": 2140, "action_config": [{"action_text": "move to the table", "start_frame": 0, "end_frame": 100, "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"action_text": "pick up the kettle on the table", "start_frame": 100, "end_frame": 265, "skill": "Pick", "language_memory": "The robot has moved to the table."}, {"action_text": "pour the water from the kettle into the cup on the table", "start_frame": 265, "end_frame": 442, "skill": "Pour", "language_memory": "The robot has moved to the table and picked up the kettle."}, {"action_text": "pour the water from the kettle into the cup on the lower side of the table", "start_frame": 442, "end_frame": 622, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup."}, {"action_text": "place the kettle onto the base on the right side of the table", "start_frame": 622, "end_frame": 934, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, and poured water into the cup on the table and the lower side of the table."}, {"action_text": "move to the water cup", "start_frame": 934, "end_frame": 1088, "skill": "Navigate", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base."}, {"action_text": "pick up the water cup on the lower side of the table", "start_frame": 1088, "end_frame": 1216, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and moved to the water cup."}, {"action_text": "pour the water from the cup into the plastic box on the left", "start_frame": 1216, "end_frame": 1337, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and picked up the water cup from the lower side of the table."}, {"action_text": "place the cup under the table", "start_frame": 1337, "end_frame": 1525, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and its lower side, placed the kettle on its base, picked up a cup from the lower side, and poured the water into a plastic box on the left."}, {"action_text": "pick up the water cup on the table", "start_frame": 1525, "end_frame": 1758, "skill": "Pick", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up the lower cup, poured its contents into a plastic box, and placed the cup under the table."}, {"action_text": "pour the water from the cup into the left plastic box", "start_frame": 1758, "end_frame": 1833, "skill": "Pour", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to the water cup, picked up the cup from the lower side, poured water into the plastic box, placed the cup under the table, and picked up the water cup on the table."}, {"action_text": "place the water cup on the table", "start_frame": 1833, "end_frame": 2005, "skill": "Place", "language_memory": "The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up cups from both locations, and poured water from them into plastic boxes on the left."}], "tasks": ["pour water"], "detailed_task_instruction": ["Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle onto its base on the right side of the table. Move to the lower cup, pick it up, and pour its contents into the plastic box on the left. Place this cup under the table. Next, pick up the water cup on the table and pour its contents into the left plastic box. Finally, place the water cup back on the table."]}