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"schema_version": 1,
"dataset": "VideoDB/WGO-Bench",
"upstream_dataset": "macrodata/WGO-Bench",
"upstream_revision": "9cfb7bb98d60a58319f4b3d7b41374eedfb7980c",
"episodes": [
{
"id": "homer_1",
"instruction": "use pitcher to pour water into tall glass and wine glass",
"segments": [
{
"start_sec": 0.0,
"end_sec": 21.712,
"subtask": "twist open the pitcher lid, pick it up, then pour the water into the wine glass, then place it down next to the wine glass"
},
{
"start_sec": 21.712,
"end_sec": 62.588,
"subtask": "twist the pitcher lid, then pick it up and pour water into the wine glass"
},
{
"start_sec": 62.588,
"end_sec": 65.413,
"subtask": "move the tall glass closer to the wine glass"
},
{
"start_sec": 65.413,
"end_sec": 67.987,
"subtask": "place the pitcher on the black board right and below the wine glass"
},
{
"start_sec": 67.987,
"end_sec": 72.944,
"subtask": "twist the pitcher lid to open it slightly"
},
{
"start_sec": 72.944,
"end_sec": 74.356,
"subtask": "pick up the pitcher"
},
{
"start_sec": 74.356,
"end_sec": 79.969,
"subtask": "pour a bit of water from the pitcher into the tall glass"
},
{
"start_sec": 79.969,
"end_sec": 83.203,
"subtask": "move the glass wine 7cm to the left"
},
{
"start_sec": 83.203,
"end_sec": 134.022,
"subtask": "pour water from the pitcher into the tall glass until it's almost full"
},
{
"start_sec": 134.022,
"end_sec": 137.134,
"subtask": "pour water from the pitcher into the wine glass until it's full"
},
{
"start_sec": 137.134,
"end_sec": 140.219,
"subtask": "pour water from the pitcher into the tall glass until it's full"
},
{
"start_sec": 140.219,
"end_sec": 142.2,
"subtask": "place the pitcher on the table"
},
{
"start_sec": 142.2,
"end_sec": 147.534,
"subtask": "reposition the wine glass to the left center part of table"
},
{
"start_sec": 147.534,
"end_sec": 152.14,
"subtask": "move the tall glass to the right-center part of the table"
},
{
"start_sec": 152.14,
"end_sec": 161.18,
"subtask": "place the pitcher on the center part of the table between the two glasses"
}
],
"episode_task_success": null,
"episode_quality": null
},
{
"id": "homer_2",
"instruction": "wash the dishes in the sink",
"segments": [
{
"start_sec": 0.0,
"end_sec": 3.981,
"subtask": "turn on the kitchen faucet"
},
{
"start_sec": 3.981,
"end_sec": 6.717,
"subtask": "wet the yellow sponge under the running water"
},
{
"start_sec": 6.717,
"end_sec": 11.151,
"subtask": "put a dish soap on the dish sponge"
},
{
"start_sec": 11.151,
"end_sec": 19.269,
"subtask": "wet and squeeze the yellow sponge under the running water"
},
{
"start_sec": 19.269,
"end_sec": 21.116,
"subtask": "pick up the silver spoon from glass mug with cofee"
},
{
"start_sec": 21.116,
"end_sec": 28.83,
"subtask": "pick up the glass mug from the sink"
},
{
"start_sec": 28.83,
"end_sec": 30.91,
"subtask": "place the silver spoon on the kitchen towel and the above the black up"
},
{
"start_sec": 30.91,
"end_sec": 31.75,
"subtask": "pick up the glass mug from the sink"
},
{
"start_sec": 31.75,
"end_sec": 43.735,
"subtask": "wash the glass mug with a sponge under running water, drop the sponge into the sink midway"
},
{
"start_sec": 43.735,
"end_sec": 46.979,
"subtask": "place the glass mug on the kitchen towel and above the right most plate"
},
{
"start_sec": 46.979,
"end_sec": 49.714,
"subtask": "pick up the yellow sponge from the sink"
},
{
"start_sec": 49.714,
"end_sec": 52.377,
"subtask": "pick up the black mug from the sink"
},
{
"start_sec": 52.377,
"end_sec": 59.439,
"subtask": "scrub the black mug with a sponge under running water in the sink, drop the sponge into the sink midway"
},
{
"start_sec": 59.439,
"end_sec": 62.175,
"subtask": "place the black mug on the kitchen towel and to the left of the glass mug"
},
{
"start_sec": 62.175,
"end_sec": 63.36,
"subtask": "pick up the yellow sponge"
},
{
"start_sec": 63.36,
"end_sec": 65.845,
"subtask": "pick up the clear glass and the sponge from the sink"
},
{
"start_sec": 65.845,
"end_sec": 80.872,
"subtask": "scrub and rinse a clear glass under running water in the sink, drop the sponge into the sink midway"
},
{
"start_sec": 80.872,
"end_sec": 82.09,
"subtask": "place the clear glass on top of the right most plate"
},
{
"start_sec": 82.09,
"end_sec": 84.287,
"subtask": "pick up the yellow sponge"
},
{
"start_sec": 84.287,
"end_sec": 89.636,
"subtask": "pick up the white saucer from the sink"
},
{
"start_sec": 89.636,
"end_sec": 98.315,
"subtask": "scrub the white saucer with a sponge under running water in the sink"
},
{
"start_sec": 98.315,
"end_sec": 99.826,
"subtask": "place the white saucer on top of the black cup"
},
{
"start_sec": 99.826,
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{
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},
{
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"subtask": "place the clear glass bowl on top of the black cup"
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{
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"subtask": "pick up the white spatula from the sink"
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{
"start_sec": 123.573,
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"subtask": "rinse the white spatula under running water in the sink"
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{
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"end_sec": 140.618,
"subtask": "clean the sink with sponge"
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{
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"subtask": "rinse and squeeze the sponge under running water and then place it in the tray, wash your hands"
},
{
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"subtask": "turn off the kitchen faucet"
}
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{
"id": "homer_3",
"instruction": "use a spoon to stir contents in a bowl",
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{
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"subtask": "pick up the green bag with brown powder"
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{
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"subtask": "pour brown powder from the green bag into the metal pan"
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{
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"end_sec": 10.572,
"subtask": "new subtask"
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{
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"subtask": "pick up the blue-shite cup from the left side of the table"
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{
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},
{
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"subtask": "place the blue cup on the left side of the table"
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{
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"subtask": "pick up a white spatula"
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{
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"subtask": "stir the brown liquid in the pan using a white spatula"
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{
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"end_sec": 135.747,
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}
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{
"id": "homer_4",
"instruction": "Clean tables, desks, or shelves with a cloth",
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{
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{
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"subtask": "wipe the front surface and drawer of the wooden nightstand with a white cloth"
},
{
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"subtask": "open the nightstand drawer then wipe the inside of the nightstand drawer with a cloth and close the nightstand drawer"
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{
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"subtask": "wipe the top surface of the wooden nightstand with a white cloth"
},
{
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"subtask": "adjust the cloth and wipe the top surface of the wooden nightstand with a white cloth"
},
{
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"end_sec": 77.904,
"subtask": "wipe the front of wooden nightstand with a white cloth"
},
{
"start_sec": 77.904,
"end_sec": 86.989,
"subtask": "wipe the drawer handle of the wooden nightstand with a white cloth"
},
{
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"subtask": "wipe the top surface of the wooden nightstand with a white cloth"
},
{
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"subtask": "fold the cloth and wipe the top surface of the wooden nightstand with a white cloth"
},
{
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"subtask": "wipe the front drawer of the wooden nightstand with a white cloth"
},
{
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}
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{
"id": "homer_5",
"instruction": "use a cloth to dust white shelf",
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{
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},
{
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"end_sec": 11.063,
"subtask": "wipe the the middle of white shelf with a purple cloth"
},
{
"start_sec": 11.063,
"end_sec": 20.097,
"subtask": "wipe the top of white shelf between blue goblet and magazine with purple cloth"
},
{
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"end_sec": 28.563,
"subtask": "wipe the the top of white shelf with a purple cloth"
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{
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"subtask": "wipe the middle shelf of the white table with a purple cloth"
},
{
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"subtask": "wipe the the top of white shelf with a purple cloth"
},
{
"start_sec": 67.989,
"end_sec": 73.796,
"subtask": "wipe the middle shelf of the white cabinet with a purple cloth"
},
{
"start_sec": 73.796,
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"subtask": "wipe the white shelf surface around the decorative items with a purple cloth"
},
{
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"end_sec": 107.363,
"subtask": "wipe the middle shelf of the white cabinet with a purple cloth"
},
{
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"subtask": "wipe the white shelf surface with a purple cloth"
}
],
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{
"id": "homer_7",
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{
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"subtask": "draw a sun on the white paper with a pen in the center of the paper"
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{
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"subtask": "draw clouds on the paper right next to the sun"
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{
"start_sec": 39.16,
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"subtask": "draw birds next to the clouds on the paper"
},
{
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"subtask": "draw curved lines beach at the bottom right of the paper"
},
{
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"subtask": "draw a palm tree in the middle of hills with a pen"
},
{
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"subtask": "draw stones on the beach"
},
{
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"subtask": "draw wavy lines representing to the left of beach using a pen"
},
{
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"end_sec": 131.468,
"subtask": "draw clouds on the upper-left part of the paper with a pen"
},
{
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"end_sec": 136.585,
"subtask": "draw birds in the sky around the cloud at top-left of the paper with a pen"
}
],
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{
"id": "homer_9",
"instruction": "wash the two glasses in the sink",
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{
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"subtask": "turn on the kitchen faucet"
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{
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"end_sec": 7.036,
"subtask": "pick up right clear glass with the green dishcloth inside"
},
{
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"subtask": "rinse the green dishcloth and the right clear glass under the running water in the sink"
},
{
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},
{
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"subtask": "wash the inside of clear glass using a green dishcloth under"
},
{
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"subtask": "wash the outside of clear glass using a green dishcloth"
},
{
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"subtask": "place the clear glass into the sink to the right-center"
},
{
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"subtask": "pick up the clear glass from the left-center of the sink"
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{
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},
{
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},
{
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"subtask": "place the clear glass to the center of sink"
},
{
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"subtask": "turn on the kitchen faucet"
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{
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{
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{
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"subtask": "rinse the glass in your hand under the running tap"
},
{
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"subtask": "place the clear glass in your hand to the left edge of the sink"
},
{
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"subtask": "pickup the clear glass from the sink"
},
{
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},
{
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"subtask": "turn off kitchen faucet"
},
{
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"subtask": "place the clear glass in your hand to the left edge of the sink and above the clear glass"
}
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{
"id": "homer_10",
"instruction": "clean the dinner table and stovetop with a cloth",
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{
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"subtask": "unfold the yellow cloth"
},
{
"start_sec": 1.334,
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"subtask": "wipe the wooden countertop with a yellow cloth"
},
{
"start_sec": 19.357,
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"subtask": "wipe the dining table with a yellow cloth"
},
{
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"subtask": "pick up the round brown placemat from the table and clean under it"
},
{
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"subtask": "wipe the wooden dinning table with a yellow cloth"
},
{
"start_sec": 65.749,
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"subtask": "pick up the round brown placemats from the wooden table and move to the right"
},
{
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"subtask": "wipe the wooden countertop with a yellow cloth"
},
{
"start_sec": 81.991,
"end_sec": 87.154,
"subtask": "move the round brown placemats closer to you and place it exactly to the left of the other one on the table"
},
{
"start_sec": 87.154,
"end_sec": 108.365,
"subtask": "wipe the wooden kitchen table with a yellow cloth"
},
{
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"end_sec": 120.83,
"subtask": "wipe the black glass stovetop with a yellow cloth"
}
],
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{
"id": "homer_11",
"instruction": "open, inspect and close all containers, bottles and jars in front of you",
"segments": [
{
"start_sec": 0.0,
"end_sec": 3.421,
"subtask": "pick up small jar containing coffee beans from the bottom left of the tray"
},
{
"start_sec": 3.421,
"end_sec": 7.485,
"subtask": "unscrew and remove the pink lid from the jar you are holding"
},
{
"start_sec": 7.485,
"end_sec": 11.992,
"subtask": "close small jar containing coffee beans in your hand with the pink lid you are holding"
},
{
"start_sec": 11.992,
"end_sec": 13.741,
"subtask": "place the small jar with a pink lid you are holding on the left bottom side of tray"
},
{
"start_sec": 13.741,
"end_sec": 17.463,
"subtask": "pick up the plastic jar containing white powder from bottom middle of the table"
},
{
"start_sec": 17.463,
"end_sec": 20.231,
"subtask": "unscrew the pink lid from the jar you are holding"
},
{
"start_sec": 20.231,
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"subtask": "screw in the pink lid onto the jar you are holding"
},
{
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"end_sec": 24.195,
"subtask": "place the small jar in your hand between the two jars with coffee beans on tray"
},
{
"start_sec": 24.195,
"end_sec": 25.691,
"subtask": "pick up the plastic jar containing beans from right bottom of the table"
},
{
"start_sec": 25.691,
"end_sec": 28.875,
"subtask": "unscrew and remove the pink lid from the jar you are holding"
},
{
"start_sec": 28.875,
"end_sec": 33.016,
"subtask": "close small jar containing coffee beans in your hand with the pink lid you are holding"
},
{
"start_sec": 33.016,
"end_sec": 34.476,
"subtask": "place the small jar with a pink lid in your hand on the bottom right side of tray"
},
{
"start_sec": 34.476,
"end_sec": 36.78,
"subtask": "pick up the pink and black bottle from the table"
},
{
"start_sec": 36.78,
"end_sec": 42.037,
"subtask": "open the bottle you are holding"
},
{
"start_sec": 42.037,
"end_sec": 48.539,
"subtask": "close the black-pink bottle you are holding"
},
{
"start_sec": 48.539,
"end_sec": 51.786,
"subtask": "place the pink-black bottle to the top right of tray"
},
{
"start_sec": 51.786,
"end_sec": 54.864,
"subtask": "pick up the orange floral container"
},
{
"start_sec": 54.864,
"end_sec": 61.774,
"subtask": "unscrew the lid from the container you are holding"
},
{
"start_sec": 61.774,
"end_sec": 68.382,
"subtask": "scoop white powder from the clear container using an orange measuring spoon"
},
{
"start_sec": 68.382,
"end_sec": 74.207,
"subtask": "press the orange lid onto the clear plastic container to close it"
},
{
"start_sec": 74.207,
"end_sec": 76.607,
"subtask": "place the jar with the orange lid you are holding to middle top of tray"
},
{
"start_sec": 76.607,
"end_sec": 79.647,
"subtask": "pick up the large jar with a green lid from the top-left of the tray"
},
{
"start_sec": 79.647,
"end_sec": 83.091,
"subtask": "unscrew the lid from the container you are holding"
},
{
"start_sec": 83.091,
"end_sec": 90.155,
"subtask": "stir the sugar with a spoon"
},
{
"start_sec": 90.155,
"end_sec": 93.621,
"subtask": "screw the green lid onto the plastic jar you are holding"
},
{
"start_sec": 93.621,
"end_sec": 96.283,
"subtask": "place the jar you are holding on the left bottom side of the tray"
},
{
"start_sec": 96.283,
"end_sec": 98.559,
"subtask": "pick up the plastic jar containing beans from right bottom of the table"
},
{
"start_sec": 98.559,
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"subtask": "remove the pink lid from the container you are holding"
},
{
"start_sec": 101.158,
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"subtask": "stir the beens with your hand"
},
{
"start_sec": 104.681,
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"subtask": "close small jar containing coffee beans in your hand with the pink lid you are holding"
},
{
"start_sec": 109.199,
"end_sec": 110.614,
"subtask": "place the small jar with a pink lid in your hand on the bottom right side of tray"
},
{
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"end_sec": 111.601,
"subtask": "pick up the plastic jar containing white powder from bottom middle of the table"
},
{
"start_sec": 111.601,
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"subtask": "remove the pink lid from the jar you are holding"
},
{
"start_sec": 112.228,
"end_sec": 115.374,
"subtask": "inspect the powder inside the container"
},
{
"start_sec": 115.374,
"end_sec": 117.032,
"subtask": "close the small jar you are holding containing white powder with the pink lid"
},
{
"start_sec": 117.032,
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"subtask": "place the small jar in your hand between the two jars with coffee beans on tray"
},
{
"start_sec": 118.44,
"end_sec": 120.037,
"subtask": "pick up small jar containing coffee beans from the bottom left of the tray"
},
{
"start_sec": 120.037,
"end_sec": 121.212,
"subtask": "unscrew and remove the pink lid from the jar you are holding"
},
{
"start_sec": 121.212,
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"subtask": "stir the beens with your hand"
},
{
"start_sec": 125.329,
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"subtask": "close the small jar you are holding with the pink lid"
},
{
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"end_sec": 131.69,
"subtask": "place the small jar with a pink lid you are holding on the left bottom side of tray"
}
],
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{
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{
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"subtask": "pick up the blue plastic container from the counter and open it"
},
{
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"end_sec": 3.978,
"subtask": "open the blue plastic container"
},
{
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"subtask": "close the blue lid of the plastic container"
},
{
"start_sec": 5.993,
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"subtask": "open the blue lid of the container you are holding"
},
{
"start_sec": 8.363,
"end_sec": 9.615,
"subtask": "close the blue lid of the plastic container"
},
{
"start_sec": 9.615,
"end_sec": 10.981,
"subtask": "place the blue container on the left side of black countertop"
},
{
"start_sec": 10.981,
"end_sec": 12.622,
"subtask": "pick up the nescafe container"
},
{
"start_sec": 12.622,
"end_sec": 15.813,
"subtask": "remove the red lid from the nescafe container"
},
{
"start_sec": 15.813,
"end_sec": 19.669,
"subtask": "place the red lid onto the coffee jar to close it"
},
{
"start_sec": 19.669,
"end_sec": 21.178,
"subtask": "place the red container on the black surface to the right of the blue container"
},
{
"start_sec": 21.178,
"end_sec": 22.659,
"subtask": "pick up the glass jar"
},
{
"start_sec": 22.659,
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"subtask": "unscrew and remove the black lid from the glass jar"
},
{
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"subtask": "screw the black lid onto the glass jar"
},
{
"start_sec": 27.657,
"end_sec": 28.872,
"subtask": "place the glass container with black lid onto the black surface to the right of the blue container and bellow the nespreso container"
},
{
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"end_sec": 30.542,
"subtask": "pick up a plastic jar with orange lid"
},
{
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"subtask": "unscrew and remove the orange lid from the plastic jar"
},
{
"start_sec": 33.71,
"end_sec": 36.234,
"subtask": "place the orange lid onto the jar in your hand and screw it closed"
},
{
"start_sec": 36.234,
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"subtask": "place the container with orange lid onto the black surface to the right of nespreso container"
},
{
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"subtask": "pick up the clear container with blue lid"
},
{
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"subtask": "remove the blue lid from the rectangular food storage container"
},
{
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"subtask": "close the plastic food container with the light blue lid"
},
{
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"subtask": "remove the blue lid from the rectangular food storage container"
},
{
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"subtask": "close the plastic food container with the light blue lid"
},
{
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"subtask": "place the container with blue lid onto the black surface to the right of glass jar with a black lid"
},
{
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"subtask": "pick up the metal container"
},
{
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"subtask": "twist and remove the lid from the metal container"
},
{
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"subtask": "place the lid onto the metal container to close it"
},
{
"start_sec": 57.243,
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"subtask": "twist and remove the lid from the metal container"
},
{
"start_sec": 58.343,
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"subtask": "place the lid onto the metal container to close it"
},
{
"start_sec": 60.117,
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"subtask": "place the metal container onto the black surface to the right of container with blue lid"
},
{
"start_sec": 60.811,
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"subtask": "pick up the clear plastic bottle with pink lid"
},
{
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"subtask": "unscrew and remove the pink lid from the clear plastic bottle"
},
{
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"subtask": "screw the pink lid onto the plastic bottle"
},
{
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"subtask": "place the plastic bottle with pink lid onto the black surface to the right of container with orange lid"
},
{
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"subtask": "pick up the green bottle with green cap"
},
{
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"subtask": "unscrew and remove the green cap from the green bottle"
},
{
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"subtask": "screw the green cap onto the green bottle"
},
{
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"subtask": "place the green bottle onto the black surface to the right of bottle with pink lid"
},
{
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"subtask": "pick up the blue plastic container"
},
{
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"subtask": "remove the lid from the blue plastic container"
},
{
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"subtask": "close the blue lid of the plastic container"
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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"instruction": "fold the laundry items neatly",
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
"id": "homer_39",
"instruction": "Spray and wipe countertop, clean stovetop, wipe dining table",
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
"id": "homer_40",
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{
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{
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{
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"subtask": "spray cleaning liquid onto the dining table"
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
"id": "homer_41",
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{
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{
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{
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{
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{
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{
"id": "homer_48",
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{
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{
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{
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{
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{
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{
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{
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{
"start_sec": 37.796,
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{
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{
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{
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{
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{
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{
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{
"id": "homer_50",
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{
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{
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"subtask": "pick up the orange screw"
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{
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"subtask": "secure the black wheel with the orange screw"
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{
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"subtask": "pick up the green screwdriver"
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{
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{
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{
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{
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{
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"subtask": "pick up the orange screw"
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{
"start_sec": 17.886,
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{
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{
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"subtask": "use a green screwdriver to tighten the screw on the toy excavator's wheel"
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{
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{
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"subtask": "pick up the black tire"
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{
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"subtask": "push a black tire onto the left-back wheel hub of the yellow toy excavator"
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{
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"subtask": "pick up the orange screw"
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{
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"subtask": "secure the black wheel with the orange screw"
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{
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"subtask": "pick up the green screwdriver"
},
{
"start_sec": 31.93,
"end_sec": 35.547,
"subtask": "use a green screwdriver to tighten the screw on the toy excavator's wheel"
},
{
"start_sec": 35.547,
"end_sec": 35.74,
"subtask": "place the green screwdriver on the table right next to screws"
},
{
"start_sec": 35.74,
"end_sec": 36.226,
"subtask": "pick up the black tire"
},
{
"start_sec": 36.226,
"end_sec": 38.084,
"subtask": "push a black tire onto the left-front wheel hub of the yellow toy excavator"
},
{
"start_sec": 38.084,
"end_sec": 38.412,
"subtask": "pick up the orange screw"
},
{
"start_sec": 38.412,
"end_sec": 39.944,
"subtask": "secure the black wheel with the orange screw"
},
{
"start_sec": 39.944,
"end_sec": 40.425,
"subtask": "pick up the green screwdriver"
},
{
"start_sec": 40.425,
"end_sec": 46.48,
"subtask": "tighten the screw on the wheel of the yellow toy excavator using a green screwdriver"
}
],
"episode_task_success": null,
"episode_quality": null
},
{
"id": "homer_52",
"instruction": "",
"segments": [
{
"start_sec": 0.0,
"end_sec": 1.15,
"subtask": "pick up the left and right shoe lace"
},
{
"start_sec": 1.15,
"end_sec": 3.407,
"subtask": "pull the shoelaces to tigh the grey shoe"
},
{
"start_sec": 3.407,
"end_sec": 8.716,
"subtask": "cross and pull the shoelaces of the grey shoe"
},
{
"start_sec": 8.716,
"end_sec": 16.223,
"subtask": "Make a loop (\"bunny ear\") with both laces"
},
{
"start_sec": 16.223,
"end_sec": 23.796,
"subtask": "push a section of the wrapped lace through the hole that forms behind the loop, creating a second loop."
},
{
"start_sec": 23.796,
"end_sec": 31.905,
"subtask": "pull both loops outward until the knot is snug"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "homer_53",
"instruction": "",
"segments": [
{
"start_sec": 2.531,
"end_sec": 11.283,
"subtask": "pick up the left and right shoelace, and cross the two lace ends and pull tight"
},
{
"start_sec": 11.283,
"end_sec": 17.464,
"subtask": "make a loop (\"bunny ear\") with one lace, and wrap the other lace around the base of that loop and push through the hole that forms behind the loop, creating a second loop, then pull both loops outward until the knot is snug"
},
{
"start_sec": 17.464,
"end_sec": 28.826,
"subtask": "pick up the left shoe and put it onto the left foot"
},
{
"start_sec": 28.826,
"end_sec": 33.252,
"subtask": "pick up the left and right shoelace, and cross the two lace ends and pull tight"
},
{
"start_sec": 33.252,
"end_sec": 44.732,
"subtask": "make a loop (\"bunny ear\") with one lace, and wrap the other lace around the base of that loop and push through the hole that forms behind the loop, creating a second loop, then pull both loops outward until the knot is snug"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "homer_56",
"instruction": "",
"segments": [
{
"start_sec": 0.599,
"end_sec": 6.684,
"subtask": "pick up the pink towel unfold it and hold it up horizontally with both hands"
},
{
"start_sec": 6.684,
"end_sec": 12.66,
"subtask": "fold the pink towel in half"
},
{
"start_sec": 12.66,
"end_sec": 16.636,
"subtask": "place the pink cloth on the table and fold it in half"
},
{
"start_sec": 16.636,
"end_sec": 20.731,
"subtask": "bring the bottom corners of the pink towel upward and gather them together in the center"
},
{
"start_sec": 20.731,
"end_sec": 26.862,
"subtask": "unfold the pink towel and fold it in half lengthwise on the table"
},
{
"start_sec": 26.862,
"end_sec": 43.768,
"subtask": "roll the pink towel on the white table"
},
{
"start_sec": 43.768,
"end_sec": 50.123,
"subtask": "smooth out the towel roll"
},
{
"start_sec": 50.123,
"end_sec": 53.345,
"subtask": "rotate the pink towel on the table 90 degrees clockwise"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "homer_59",
"instruction": "Record yourself picking a single item from a home shelf, bookcase, or closet. Show the full reach-and-grab motion with your hands visible.",
"segments": [
{
"start_sec": 0.0,
"end_sec": 4.418,
"subtask": "pick up the three books next to the case with books then place them three books on to the empty shelf"
},
{
"start_sec": 4.418,
"end_sec": 11.323,
"subtask": "pick the first three books from the case, starting from the left then place the three books onto the shelf right next to existing books"
},
{
"start_sec": 11.323,
"end_sec": 17.65,
"subtask": "pick the first three books from the case, starting from the left then place the three books onto the shelf right next to existing books"
},
{
"start_sec": 17.65,
"end_sec": 25.406,
"subtask": "pick the first three books from the case, starting from the left then place the three books onto the shelf right next to existing books"
},
{
"start_sec": 25.406,
"end_sec": 32.377,
"subtask": "pick the first three books from the case, starting from the left then place the three books onto the shelf right next to existing books"
},
{
"start_sec": 32.377,
"end_sec": 37.998,
"subtask": "pick the first three books from the case, starting from the left then place the three books onto the shelf right next to existing books"
},
{
"start_sec": 37.998,
"end_sec": 43.802,
"subtask": "pick the first three books from the case, starting from the left then place the three books onto the shelf right next to existing books"
},
{
"start_sec": 43.802,
"end_sec": 48.249,
"subtask": "pick the first three books from the case, starting from the left then place the three books onto the shelf right next to existing books"
},
{
"start_sec": 48.249,
"end_sec": 53.427,
"subtask": "pick the first three books from the case, starting from the left then place the three books onto the shelf right next to existing books"
},
{
"start_sec": 53.427,
"end_sec": 57.977,
"subtask": "pick the book from the case then place the book onto the shelf right next to existing books"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "homer_60",
"instruction": "Record yourself placing items back onto shelves. Show the full approach, positioning, and placement motion with hands visible.",
"segments": [
{
"start_sec": 0.0,
"end_sec": 5.623,
"subtask": "pick four books from the top of the book stack then place the four books onto the empty shelf of the white cabinet"
},
{
"start_sec": 5.623,
"end_sec": 13.955,
"subtask": "pick up three books from the top of the book stack then place three books onto the shelf which has some books and empty space of the white cabinet"
},
{
"start_sec": 13.955,
"end_sec": 21.19,
"subtask": "pick up three books from the top of the book stack then place three books onto the shelf which has some books and empty space of the white cabinet"
},
{
"start_sec": 21.19,
"end_sec": 31.205,
"subtask": "pick up three books from the top of the book stack then place three books onto the shelf which has some books and empty space of the white cabinet"
},
{
"start_sec": 31.205,
"end_sec": 40.874,
"subtask": "pick up five books from the top of the book stack then place fivebooks onto the shelf which has some books and empty space of the white cabinet"
},
{
"start_sec": 40.874,
"end_sec": 45.709,
"subtask": "pick up one book from the top of the book stack then place the book onto the shelf which has some books and empty space of the white cabinet"
},
{
"start_sec": 45.709,
"end_sec": 50.542,
"subtask": "pick up one book from the top of the book stack then place the book onto the shelf which has some books and empty space of the white cabinet"
},
{
"start_sec": 50.542,
"end_sec": 55.03,
"subtask": "pick up one book from the top of the book stack then place the book onto the shelf which has some books and empty space of the white cabinet"
},
{
"start_sec": 55.03,
"end_sec": 57.686,
"subtask": "pick up four book from the top of the book stack then place four books onto the shelf which has some books and empty space of the white cabinet"
},
{
"start_sec": 57.686,
"end_sec": 67.808,
"subtask": "place the four books onto the middle shelf of the white cabinet"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "robointer_droid_000001",
"instruction": "Move the bowl to the right",
"segments": [
{
"start_sec": 0.0,
"end_sec": 9.049,
"subtask": "grasp the bowl on the table with the robot gripper and then push it to the up on the table"
}
],
"episode_task_success": "success",
"episode_quality": 3
},
{
"id": "robointer_droid_000002",
"instruction": "Take the black lid from the top of the can and put it on the table",
"segments": [
{
"start_sec": 0.0,
"end_sec": 10.941,
"subtask": "pick up the black lid from the top of the can then place the black lid on the table to the left of the can"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "robointer_droid_000003",
"instruction": "Move the bowl to the right",
"segments": [
{
"start_sec": 0.0,
"end_sec": 9.515,
"subtask": "pick up the black bowl on the table then move the black bowl to the towards bottom right of the table"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "robointer_droid_000004",
"instruction": "Take the black lid from the top of the can and put it on the table",
"segments": [
{
"start_sec": 0.0,
"end_sec": 10.338,
"subtask": "pick up the black lid from the top of the can then place the black lid on the table right next to the can"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "robointer_droid_000005",
"instruction": "Remove the pen from the mug and put it on the table",
"segments": [
{
"start_sec": 0.0,
"end_sec": 11.718,
"subtask": "pick up the pen from the black-red cup then place the pen on the table left next to the cup"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "robointer_droid_000006",
"instruction": "Remove the pen from the mug and put it on the table",
"segments": [
{
"start_sec": 0.0,
"end_sec": 7.782,
"subtask": "pick up the pen from the black-red cup then place the pen on the table to the left of the cup"
},
{
"start_sec": 7.782,
"end_sec": 11.709,
"subtask": "place the pen on the table to the left of the cup"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "robointer_droid_000007",
"instruction": "Pick the bottle on the table and put it in the mug",
"segments": [
{
"start_sec": 1.854,
"end_sec": 8.871,
"subtask": "pick up the solid glue from the table then place the solid glue in the yellow cup"
},
{
"start_sec": 8.871,
"end_sec": 13.8,
"subtask": "place the solid glue in the yellow cup"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "robointer_droid_000008",
"instruction": "Pick the bottle on the table and put it in the mug",
"segments": [
{
"start_sec": 2.306,
"end_sec": 13.531,
"subtask": "pick up the solid glue from the table then place the solid glue in the yellow cup"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "robointer_droid_000009",
"instruction": "Put the cloth on the transparent barrier",
"segments": [
{
"start_sec": 0.0,
"end_sec": 14.933,
"subtask": "pick up the cloth from the purple mat on the table then drape the green cloth over the transparent plastic barrier"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "robointer_droid_000010",
"instruction": "Put the blue object inside the drawer.",
"segments": [
{
"start_sec": 0.0,
"end_sec": 8.4,
"subtask": "pick up the blue block from the table then place the blue block inside the open drawer"
},
{
"start_sec": 8.4,
"end_sec": 15.2,
"subtask": "push the drawer door to close the drawer"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "robointer_droid_000011",
"instruction": "Put the rubber band around the jar.",
"segments": [
{
"start_sec": 0.0,
"end_sec": 15.024,
"subtask": "put the rubber band around the jar"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "robointer_droid_000012",
"instruction": "Put the blue object inside the drawer.",
"segments": [
{
"start_sec": 0.0,
"end_sec": 8.4,
"subtask": "pick up the blue block from the table and place it inside the drawer"
},
{
"start_sec": 8.4,
"end_sec": 15.2,
"subtask": "push the bottom drawer closed"
}
],
"episode_task_success": "success",
"episode_quality": 4
},
{
"id": "robointer_droid_000013",
"instruction": "Move the silver cup to the next to green dispenser",
"segments": [
{
"start_sec": 0.0,
"end_sec": 15.808,
"subtask": "pick up the silver cup from the countertop behind the sink then place the silver cup on the right side of the countertop next to the green dispenser"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "robointer_droid_000014",
"instruction": "Put the cloth on the plastic barrier",
"segments": [
{
"start_sec": 0.0,
"end_sec": 14.811,
"subtask": "pick up the cloth from the purple mat on the table then place the white cloth on top of the plastic barrier"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "robointer_droid_000015",
"instruction": "Move the silver cup to the right of green dispenser",
"segments": [
{
"start_sec": 0.0,
"end_sec": 15.607,
"subtask": "pick up the silver cup on the left side of the countertop then place the silver cup on the right side of the countertop next to the green dispenser"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "robointer_droid_000016",
"instruction": "Put the rubber band around the jar.",
"segments": [
{
"start_sec": 0.0,
"end_sec": 15.19,
"subtask": "pull the rubber band and release it then pull the rubber band and release it"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "robointer_droid_000017",
"instruction": "Pick the marker from the pot and put it on the table",
"segments": [
{
"start_sec": 0.0,
"end_sec": 14.681,
"subtask": "place the black marker on the right top side of the wooden table and place it on the right top side of the wooden table"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "robointer_droid_000019",
"instruction": "Pick the marker from the pot and put it on the table",
"segments": [
{
"start_sec": 1.925,
"end_sec": 16.508,
"subtask": "pick up the marker from the container and place it on the right top side of the table"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "robointer_droid_000021",
"instruction": "Put the tomato inside the silver bowl",
"segments": [
{
"start_sec": 0.0,
"end_sec": 16.286,
"subtask": "pick up the tomato on the left side of the table then place the tomato inside the silver bowl"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "robointer_droid_000022",
"instruction": "Pick the stuffed pineapple and put it beside the oven",
"segments": [
{
"start_sec": 0.0,
"end_sec": 18.404,
"subtask": "pick up the soft pineapple from the table and place it next to the toaster"
}
],
"episode_task_success": "success",
"episode_quality": 4
},
{
"id": "robointer_droid_000023",
"instruction": "Move the cup lid to the right",
"segments": [
{
"start_sec": 0.0,
"end_sec": 16.991,
"subtask": "pick up the lid from the cup on the table and palce it on the table to the left of the cup with noodles"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "robointer_droid_000024",
"instruction": "Put the tomato inside the silver bowl",
"segments": [
{
"start_sec": 0.0,
"end_sec": 15.538,
"subtask": "pick up the red tomato on the table then place the red tomato inside the silver bowl"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "robointer_droid_000025",
"instruction": "Move the cup lid to the right",
"segments": [
{
"start_sec": 0.0,
"end_sec": 16.441,
"subtask": "pick up the lid on from the cup and place it next to the right cup on the table"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "robointer_droid_000027",
"instruction": "Pick the stuffed pineapple and put it beside the oven",
"segments": [
{
"start_sec": 0.0,
"end_sec": 18.093,
"subtask": "pick up the soft pineapple from the table and place it beside the toaster"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "robointer_droid_000028",
"instruction": "Pick up the piece of paper from the edge of the table and move it forward.",
"segments": [
{
"start_sec": 0.0,
"end_sec": 16.418,
"subtask": "pick up the piece of paper from the bottom-left edge of the desk then place the paper on the shelf in front of the books"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "robointer_droid_000029",
"instruction": "Pick up a bottle from the tray and put it on the table",
"segments": [
{
"start_sec": 0.0,
"end_sec": 22.397,
"subtask": "pick up the bottle from the wooden tray then place the bottle to the bottom right of the wooden tray"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "robointer_droid_000030",
"instruction": "Pick up a bottle from the tray and put it on the table",
"segments": [
{
"start_sec": 0.0,
"end_sec": 22.357,
"subtask": "pick up the left-most bottle on the in the wooden tray then place the bottle on the table to the bottom right of the tray"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "robointer_droid_000032",
"instruction": "Pick up the red measuring spoon from the open drawer and put it on the kitchen counter",
"segments": [
{
"start_sec": 0.0,
"end_sec": 26.121,
"subtask": "pick up the red measuring spoon from the open drawer then place the red measuring spoon on the kitchen counter left next to the gray measuring spoon"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "robointer_droid_000033",
"instruction": "Pick up the pink and silver measuring spoon from the open drawer and put it on the kitchen counter",
"segments": [
{
"start_sec": 0.0,
"end_sec": 19.9,
"subtask": "too dark, manipulating something"
},
{
"start_sec": 19.922,
"end_sec": 25.922,
"subtask": "placing an object on the counter"
}
],
"episode_task_success": "success",
"episode_quality": 2
},
{
"id": "robointer_droid_000034",
"instruction": "Remove the gray toy from the bowl and put in it in the toy sink",
"segments": [
{
"start_sec": 12.223,
"end_sec": 27.919,
"subtask": "pick up the gray toy from the bowl then drop the gray toy into the toy sink basin"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "robointer_droid_000035",
"instruction": "Remove the gray toy from the bowl and put in it in the toy sink",
"segments": [
{
"start_sec": 9.606,
"end_sec": 26.805,
"subtask": "pick up the gray toy from the bowl and drop it in the toy sink"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "robointer_droid_000036",
"instruction": "Clean the white lid",
"segments": [
{
"start_sec": 0.0,
"end_sec": 27.7,
"subtask": "pick up the cleaning cloth from the table and wipe the white lid with it, then place the cloth next to the white lid"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "robointer_droid_000037",
"instruction": "Put the small white drawer in the top drawer and then close the drawer",
"segments": [
{
"start_sec": 0.0,
"end_sec": 20.8,
"subtask": "pick up the small white box from the shelf and place it inside the open top drawer"
},
{
"start_sec": 20.8,
"end_sec": 28.5,
"subtask": "push the drawer inward to close"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "robointer_droid_000038",
"instruction": "Clean the white lid",
"segments": [
{
"start_sec": 0.0,
"end_sec": 27.7,
"subtask": "pick up the cleaning cloth from the table and wipe the white lid with it, then place the cloth next to the white lid"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "robointer_droid_000039",
"instruction": "Put the small white drawer in the top drawer and then close the drawer",
"segments": [
{
"start_sec": 0.0,
"end_sec": 19.393,
"subtask": "pick up the small white box from the shelf and place it inside the open top drawer"
},
{
"start_sec": 19.393,
"end_sec": 28.5,
"subtask": "push the top drawer of the brown cabinet inward to close it"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "robointer_droid_000042",
"instruction": "Remove the glass cup from the grey plate.",
"segments": [
{
"start_sec": 0.0,
"end_sec": 28.545,
"subtask": "pick up the glass cup from the grey plate and place it on the white table to the right of a yellow sponge"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "robointer_droid_000043",
"instruction": "Cover the pot",
"segments": [
{
"start_sec": 0.0,
"end_sec": 31.062,
"subtask": "grasp the handle of the glass lid on the table and place it on top of the black pot"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "robointer_droid_000044",
"instruction": "Cover the pot",
"segments": [
{
"start_sec": 0.0,
"end_sec": 29.227,
"subtask": "grasp the handle of the glass lid on the table and place it on top of the black pot"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "robointer_droid_000045",
"instruction": "put the desktop items into the drawer and close the drawer",
"segments": [
{
"start_sec": 0.0,
"end_sec": 15.837,
"subtask": "pick up the grey electronic meter on the table and drop it into the drawer into the right most container"
},
{
"start_sec": 15.837,
"end_sec": 24.857,
"subtask": "pick up the grey electronic meter on the table and drop it into the drawer into the right most container"
},
{
"start_sec": 24.857,
"end_sec": 34.995,
"subtask": "push to the drawer to close the drawer"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "robointer_droid_000046",
"instruction": "put the desktop items into the drawer and close the drawer",
"segments": [
{
"start_sec": 0.0,
"end_sec": 16.1,
"subtask": "pick up the grey electronic meter on the table and drop it into the drawer into the right most container"
},
{
"start_sec": 16.1,
"end_sec": 25.541,
"subtask": "pick up the grey electronic meter on the table and drop it into the drawer into the right most container"
},
{
"start_sec": 25.594,
"end_sec": 36.5,
"subtask": "push to the drawer to close the drawer"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "robointer_droid_000047",
"instruction": "Pick up the building block toys from the top of the cabinet and put them in the black bowl.",
"segments": [
{
"start_sec": 0.0,
"end_sec": 13.1,
"subtask": "pick up the blue building block from the top of the cabinet and drop it into the black bowl"
},
{
"start_sec": 13.1,
"end_sec": 19.6,
"subtask": "pick up the green building block from the top of the cabinet and drop it into the black bowl"
},
{
"start_sec": 19.6,
"end_sec": 29.749,
"subtask": "pick up the red building block from the top of the cabinet and drop it into the black bowl"
},
{
"start_sec": 29.749,
"end_sec": 41.203,
"subtask": "pick up the yellow building block from the top of the cabinet and drop it into the black bowl"
}
],
"episode_task_success": "success",
"episode_quality": 4
},
{
"id": "robointer_droid_000050",
"instruction": "Pick up the building block toys from the top of the cabinet and put them in the black bowl.",
"segments": [
{
"start_sec": 0.0,
"end_sec": 11.296,
"subtask": "pick up the blue building block from the top of the cabinet and drop it into the black bowl"
},
{
"start_sec": 11.296,
"end_sec": 19.196,
"subtask": "pick up the green building block from the top of the cabinet and drop it into the black bowl"
},
{
"start_sec": 19.196,
"end_sec": 30.06,
"subtask": "pick up object behind the black bowl and drop it into the black bowl"
},
{
"start_sec": 30.06,
"end_sec": 41.545,
"subtask": "pick up the yellow building block from the top of the cabinet and drop it into the black bowl"
}
],
"episode_task_success": "success",
"episode_quality": 4
},
{
"id": "robointer_droid_000055",
"instruction": "Put half a spoon of the blue bowl's contents into the small crate",
"segments": [
{
"start_sec": 0.0,
"end_sec": 57.366,
"subtask": "pick up the spoon from the blue bowl and scoop contents from it with the spoon, then pour the contents into the small wooden box"
},
{
"start_sec": 57.366,
"end_sec": 63.906,
"subtask": "place the spoon into the blue bowl"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "robointer_droid_000056",
"instruction": "Put half a spoon of the blue bowl's contents into the small crate",
"segments": [
{
"start_sec": 0.0,
"end_sec": 56.992,
"subtask": "pick up the spoon from the blue bowl and scoop contents from it using the spoon, then pour it into the small wooden crate"
},
{
"start_sec": 56.992,
"end_sec": 63.766,
"subtask": "place the spoon in the bowl"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "robointer_droid_000057",
"instruction": "move the object into the box",
"segments": [
{
"start_sec": 0.0,
"end_sec": 14.432,
"subtask": "pick up the black marker on the table and place it on the yellow cloth/sheet"
},
{
"start_sec": 14.432,
"end_sec": 40.72,
"subtask": "fold the yellow cloth/sheet"
},
{
"start_sec": 40.72,
"end_sec": 45.461,
"subtask": "move the folded cloth to the left"
},
{
"start_sec": 45.461,
"end_sec": 62.2,
"subtask": "bring the right edge of yellow cloth across and lay it over the folded section."
},
{
"start_sec": 62.2,
"end_sec": 72.619,
"subtask": "pick up the yellow cloth from the table and place it in the box"
}
],
"episode_task_success": "success",
"episode_quality": 3
},
{
"id": "robointer_droid_000058",
"instruction": "move the object into the box",
"segments": [
{
"start_sec": 0.0,
"end_sec": 13.762,
"subtask": "pick up the black marker from the table and place it onto the yellow paper/cloth"
},
{
"start_sec": 13.762,
"end_sec": 41.016,
"subtask": "fold the yellow cloth/sheet, then move it to the right of the table, then fold it again"
},
{
"start_sec": 41.016,
"end_sec": 46.645,
"subtask": "move the yellow sheet/cloth to the left side"
},
{
"start_sec": 46.645,
"end_sec": 59.331,
"subtask": "fold the yellow sheet/cloth"
},
{
"start_sec": 59.331,
"end_sec": 72.511,
"subtask": "pick up the yellow cloth from the table and place it in the cardboard box"
}
],
"episode_task_success": "success",
"episode_quality": 3
},
{
"id": "robointer_droid_000059",
"instruction": "moving the plug from the table and inserting it into the power strip",
"segments": [
{
"start_sec": 0.0,
"end_sec": 65.803,
"subtask": "pick up the white plug from the table, and insert it into the power strip,"
},
{
"start_sec": 65.803,
"end_sec": 75.133,
"subtask": "push the plug into the power strip on the table"
}
],
"episode_task_success": "success",
"episode_quality": 2
},
{
"id": "robointer_droid_000060",
"instruction": "moving the plug from the table and inserting it into the power strip",
"segments": [
{
"start_sec": 0.0,
"end_sec": 64.548,
"subtask": "pick up the white plug from the table, and insert it into the power strip,"
},
{
"start_sec": 64.6,
"end_sec": 75.9,
"subtask": "push the plug into the power strip on the table"
}
],
"episode_task_success": "success",
"episode_quality": 3
},
{
"id": "robointer_droid_000061",
"instruction": "Spoon some contents from the white bowl into the green bowl twice",
"segments": [
{
"start_sec": 0.0,
"end_sec": 56.026,
"subtask": "pick up the spoon from the bowl on the left, scoop some content from the other bowl and pour it into the first bowl"
},
{
"start_sec": 56.026,
"end_sec": 94.213,
"subtask": "scoop some contents from the white bowl with the spoon and pour the contents into the bowl"
},
{
"start_sec": 94.213,
"end_sec": 104.823,
"subtask": "place the spoon into the white bowl on the right"
}
],
"episode_task_success": null,
"episode_quality": null
},
{
"id": "robointer_droid_000062",
"instruction": "Spoon some contents from the white bowl into the green bowl twice",
"segments": [
{
"start_sec": 0.0,
"end_sec": 56.103,
"subtask": "pick up the spoon from the bowl on the left, and scoop some contents from the bowl with the spoon, then pour it into the bowl on the left"
},
{
"start_sec": 56.103,
"end_sec": 94.058,
"subtask": "scoop some contents from the white bowl with the spoon and pour it into the bowl"
},
{
"start_sec": 94.058,
"end_sec": 104.668,
"subtask": "place the spoon into the white bowl on the right"
}
],
"episode_task_success": null,
"episode_quality": null
},
{
"id": "galaxea_002",
"instruction": "rearrange the word baai as brain.",
"segments": [
{
"start_sec": 0.0,
"end_sec": 7.217,
"subtask": "pick up the left-most pink plastic craft stick next to letter B and place the pink plastic stick left to the up most red curved stick"
},
{
"start_sec": 7.217,
"end_sec": 10.889,
"subtask": "pick up the left-most pink plastic craft stick next to letter B and place it below the \"brain\" sign"
},
{
"start_sec": 10.889,
"end_sec": 15.14,
"subtask": "pick up the left-top-most pink plastic craft stick and place it on right side of letter B in a vertical position"
},
{
"start_sec": 15.14,
"end_sec": 21.704,
"subtask": "pick and place the red curved stick next to the vertical pink stick to form a letter P"
},
{
"start_sec": 21.704,
"end_sec": 30.354,
"subtask": "pick up the purple stick from top of the table and place the purple stick next to the pink stick and under the red curved stick to form letter R"
},
{
"start_sec": 30.354,
"end_sec": 34.037,
"subtask": "pick up the pink stick from the top center of the table and place the pink stick vertically right next to the blue stick (letter I) on the right side of the table"
},
{
"start_sec": 34.037,
"end_sec": 37.579,
"subtask": "pick the blue stick diagonally next to top right most pink stick and place the blue stick diagonally next to bottom right most pink stick to prepare middle part of letter N"
},
{
"start_sec": 37.579,
"end_sec": 42.22,
"subtask": "pick up the pink stick from the top of the table and place pick stick to rightmost side of the table to form an N"
}
],
"episode_task_success": "success",
"episode_quality": 4
},
{
"id": "galaxea_007",
"instruction": "place the food in the right basket with the right gripper, and place the non food items in the left basket with the left gripper.",
"segments": [
{
"start_sec": 0.0,
"end_sec": 6.372,
"subtask": "grasp the orange snack bag on the green tray and place it in the right brown basket"
},
{
"start_sec": 6.372,
"end_sec": 12.735,
"subtask": "grasp the whiteboard eraser on the green tray and place the whiteboard eraser into the left dark brown basket"
},
{
"start_sec": 12.735,
"end_sec": 21.513,
"subtask": "grasp the black tube on the green tray and place the black tube into the left dark brown basket"
},
{
"start_sec": 21.513,
"end_sec": 31.076,
"subtask": "pick up the wooden spoon from the green tray and place the wooden spoon into the left dark brown basket"
}
],
"episode_task_success": "success",
"episode_quality": 4
},
{
"id": "galaxea_009",
"instruction": "on the green table,place the food in the right basket with the right gripper, and place the non food items in the left basket with the left gripper.",
"segments": [
{
"start_sec": 0.0,
"end_sec": 5.349,
"subtask": "pick up plastic bottle and place the plastic bottle into the right basket"
},
{
"start_sec": 5.349,
"end_sec": 10.601,
"subtask": "pick up red coke can and place the red can into the right basket"
},
{
"start_sec": 10.601,
"end_sec": 15.804,
"subtask": "pick up pink bottle and place the pink bottle into the left basket"
},
{
"start_sec": 15.804,
"end_sec": 22.904,
"subtask": "pick up the wooden spoon and place the wooden spoon into the left basket"
},
{
"start_sec": 22.904,
"end_sec": 26.892,
"subtask": "pick up the blue cloth from the table and place the blue cloth into the left basket"
},
{
"start_sec": 26.892,
"end_sec": 38.573,
"subtask": "pick up yellow lemon from the table and place yellow lemon in the right basket"
}
],
"episode_task_success": "success",
"episode_quality": 4
},
{
"id": "galaxea_011",
"instruction": "place the food in the right basket with the right gripper, and place the non food items in the left basket with the left gripper.",
"segments": [
{
"start_sec": 0.0,
"end_sec": 5.269,
"subtask": "pick up the bread and place it into the orange basket on the right"
},
{
"start_sec": 5.269,
"end_sec": 9.253,
"subtask": "pick up the red snack package from the green tray and place it into the orange basket on the right"
},
{
"start_sec": 9.253,
"end_sec": 13.237,
"subtask": "pick up the blue cup from the green tray and drop it into the left brown basket"
},
{
"start_sec": 13.237,
"end_sec": 17.753,
"subtask": "pick up the black object from the green tray and drop it into the left brown basket"
},
{
"start_sec": 17.753,
"end_sec": 22.268,
"subtask": "pick up the white pen from the green tray and drop it into the left brown basket"
},
{
"start_sec": 22.268,
"end_sec": 26.252,
"subtask": "pick up the wooden spoon pen from the green tray and drop it into the brown basket"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "galaxea_013",
"instruction": "place the food in the right basket with the right gripper, and place the non food items in the left basket with the left gripper.",
"segments": [
{
"start_sec": 0.0,
"end_sec": 6.489,
"subtask": "pick up the blue cup and place it in the black basket"
},
{
"start_sec": 6.489,
"end_sec": 13.129,
"subtask": "pick up the black dispenser from the green tray and place it in the black basket"
},
{
"start_sec": 13.129,
"end_sec": 20.036,
"subtask": "pick up the peach from the green tray and place it in the brown basket"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "galaxea_028",
"instruction": "pick up the test tube with red pigment and the test tube with blue pigment by grippers and pour them into the container.",
"segments": [
{
"start_sec": 0.0,
"end_sec": 19.915,
"subtask": "pick up the test tube with yellow liquid from the right then pour the yellow pigment from the test tube into the beaker and place the test tube inside the red cup"
},
{
"start_sec": 19.915,
"end_sec": 36.65,
"subtask": "pick up the test tube with red liquid from the right then pour the red pigment from the test tube into the beaker and place the test tube inside the red cup"
}
],
"episode_task_success": "success",
"episode_quality": 4
},
{
"id": "galaxea_033",
"instruction": "pick up the test tube with red pigment and the test tube with blue pigment by grippers and pour them into the container.",
"segments": [
{
"start_sec": 0.0,
"end_sec": 16.721,
"subtask": "pick up the test tube with red pigment and pour it from the test tube into the clear plastic cup, then place the empty test tube into the pink bowl"
},
{
"start_sec": 16.721,
"end_sec": 33.25,
"subtask": "pick up the test tube with blue pigment and pour it from the test tube into the clear plastic cup, then place the empty test tube into the pink bowl"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "galaxea_037",
"instruction": "pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.",
"segments": [
{
"start_sec": 0.0,
"end_sec": 7.418,
"subtask": "pick up the test tube with yellow pigment and pour the yellow pigment from the test tube into the beaker, then place the empty test tube into the blue cup on the right"
},
{
"start_sec": 7.418,
"end_sec": 16.98,
"subtask": "pick up the test tube with red pigment on the left side and pour it into the beaker, then place the empty test tube into the blue cup on the left"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "galaxea_039",
"instruction": "pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.",
"segments": [
{
"start_sec": 0.0,
"end_sec": 26.602,
"subtask": "pick up the test tube with red pigment, and pour the pigment into the clear beaker, then put the empty test tube into the pink bowl"
},
{
"start_sec": 26.602,
"end_sec": 47.852,
"subtask": "pick up the test tube with yellow pigment, and pour it into the clear beaker, then put the empty test tube into the pink bowl"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "galaxea_041",
"instruction": "pick up the test tube with yellow pigment and the test tube with red pigment by grippers and pour them into the beaker.",
"segments": [
{
"start_sec": 0.0,
"end_sec": 13.543,
"subtask": "pick up the test tube with red pigment, and pour it into the clear glass, then place the empty test tube into the pink bowl"
},
{
"start_sec": 13.543,
"end_sec": 24.965,
"subtask": "pick up the test tube with yellow pigment from the table, and pour it into the clear glass, then place the empty test tube into the pink bowl"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "galaxea_043",
"instruction": "use the left gripper to place the mouse on the mouse pad.",
"segments": [
{
"start_sec": 0.0,
"end_sec": 5.993,
"subtask": "grasp the black mouse on the left side of the table with the left gripper then place the black mouse onto the green design mouse pad on the right side of the table"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "galaxea_045",
"instruction": "use a gripper to pick up the cup and pour the liquid into a bowl or tray.",
"segments": [
{
"start_sec": 0.0,
"end_sec": 10.522,
"subtask": "pick up the glass with liquid and pour the liquid from the cup into the blue bowl, then place the clear cup on the table to the right of the pink bowl"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "galaxea_047",
"instruction": "use a gripper to pick up the cup and pour the powder into a bowl or tray.",
"segments": [
{
"start_sec": 0.0,
"end_sec": 10.63,
"subtask": "pick up the glass cup containing white powder and pour it into the blue tray, then place the cup with the white powder on the table next to the pink bowl"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "galaxea_049",
"instruction": "use a gripper to pick up the cup and pour the content into a bowl.",
"segments": [
{
"start_sec": 0.0,
"end_sec": 10.812,
"subtask": "pick up the glass with bean-like object and pour them into the pink bowl then place the cup on the table next to the pink bowl"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "galaxea_050",
"instruction": "use a gripper to pick up the cup and pour the solid into a bowl or tray.",
"segments": [
{
"start_sec": 0.0,
"end_sec": 11.153,
"subtask": "pick up the glass with beans and pour them into the tray, then place it next to the pink bowl"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "galaxea_052",
"instruction": "use the gripper to pour the water into the other two cups on black table.",
"segments": [
{
"start_sec": 0.0,
"end_sec": 12.679,
"subtask": "pick up the teal cup with water, pour it into the blue cup, then pour it into the beige cup and then place it on the table to the left of blue and white cup"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "galaxea_058",
"instruction": "use a gripper to pick the banana and place it on the white bowl.",
"segments": [
{
"start_sec": 0.0,
"end_sec": 9.286,
"subtask": "place the yellow banana inside the white bowl on the left then place the yellow banana inside on the white bowl"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "galaxea_060",
"instruction": "use a gripper to pick the target object and place on the brown plate.",
"segments": [
{
"start_sec": 0.0,
"end_sec": 4.653,
"subtask": "pick up the banana on the table and place it on the beige dish"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "galaxea_062",
"instruction": "use a gripper to pick the target object and place on the dish.",
"segments": [
{
"start_sec": 0.0,
"end_sec": 7.962,
"subtask": "grasp the banana with the gripper and place it inside the grey bowl"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "galaxea_065",
"instruction": "use a gripper to pick the target object and place on the gray plate.",
"segments": [
{
"start_sec": 0.0,
"end_sec": 3.287,
"subtask": "pick up the yellow banana and place it on the gray plate"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "galaxea_067",
"instruction": "use a gripper to pick the target object and place on the pink bowl.",
"segments": [
{
"start_sec": 0.0,
"end_sec": 5.085,
"subtask": "pick up the yellow banana then place the yellow banana inside the pink bowl"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "galaxea_069",
"instruction": "use a gripper to pick the target object and place on the white box.",
"segments": [
{
"start_sec": 0.641,
"end_sec": 5.763,
"subtask": "pick up the banana and place it inside the white container"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "galaxea_071",
"instruction": "use a gripper to pick the target object and place on the yellow basket.",
"segments": [
{
"start_sec": 0.0,
"end_sec": 3.33,
"subtask": "pick up the banana and drop it into the basket"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "galaxea_073",
"instruction": "use the gripper to open the drawer and close the red drawer.",
"segments": [
{
"start_sec": 0.0,
"end_sec": 7.395,
"subtask": "pull the white handle to open the red drawer"
},
{
"start_sec": 7.427,
"end_sec": 12.964,
"subtask": "push the red drawer closed"
}
],
"episode_task_success": "success",
"episode_quality": 5
},
{
"id": "galaxea_075",
"instruction": "use the gripper to open the drawer and close the yellow drawer.",
"segments": [
{
"start_sec": 0.0,
"end_sec": 5.153,
"subtask": "grasp the white handle and pull open the yellow drawer"
},
{
"start_sec": 5.153,
"end_sec": 11.348,
"subtask": "push the yellow drawer closed"
}
],
"episode_task_success": "success",
"episode_quality": 5
}
]
}
|