| [ | |
| { | |
| "episode_id": 1236426, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelf and the replenishment bin containing goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 87, | |
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| "action_text": "Pick up the magic crisps in the restocking box with the right arm.", | |
| "skill": "Pick" | |
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| "action_text": "Place the held magic crisps on the position with magic crisps using the right arm.", | |
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| "action_text": "Pick up the shrimp chips from the restocking bin with the left arm.", | |
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| "action_text": "Place the held shrimp chips on the position containing shrimp chips with the left arm.", | |
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| { | |
| "episode_id": 1236397, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelves and the replenishment bin, which contains the goods.", | |
| "label_info": { | |
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| { | |
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| "action_text": "Place the held crispy corn triangles on the position with crispy corn triangles using the right arm.", | |
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| { | |
| "episode_id": 1236420, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelf and the replenishment bin, which contains goods.", | |
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| { | |
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| "action_text": "Place the held bugles on the position with bugles using the right arm.", | |
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| "action_text": "Pick up the shrimp chips from the restocking bin with the left arm.", | |
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| "action_text": "Place the held shrimp chips on the position containing shrimp chips with the left arm.", | |
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| { | |
| "episode_id": 1236435, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot is positioned in front of the shelves and the replenishment bin, which holds the goods.", | |
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| { | |
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| "action_text": "Pick up the magic crisps in the restocking box with the right arm.", | |
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| "action_text": "Place the held magic crisps on the position with magic crisps using the right arm.", | |
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| "action_text": "Place the held shrimp chips on the position containing shrimp chips with the left arm.", | |
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| { | |
| "episode_id": 1236362, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelf and the replenishment bin containing goods.", | |
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| { | |
| "episode_id": 1236371, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelf and the replenishment bin containing goods.", | |
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| { | |
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| { | |
| "episode_id": 1236344, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelves and a restocking bin containing goods.", | |
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| { | |
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| "action_text": "Place the held crispy corn snacks on the position with crispy corn snacks using the right arm.", | |
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| "action_text": "Pick up the shrimp chips from the restocking bin with the left arm.", | |
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| "action_text": "Place the held shrimp chips on the position containing shrimp chips with the left arm.", | |
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| { | |
| "episode_id": 1236351, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelf and the replenishment bin, which holds the goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
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| "action_text": "Pick up the shrimp chips from the restocking bin with the left arm.", | |
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| { | |
| "episode_id": 1236441, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelves and the replenishment bin, which holds the items.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
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| { | |
| "episode_id": 1236454, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot is facing the shelves and the replenishment bin, which contains the goods.", | |
| "label_info": { | |
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| { | |
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| { | |
| "episode_id": 1236478, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelves and the replenishment bin, with the replenishment bin containing items.", | |
| "label_info": { | |
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| { | |
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| { | |
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| { | |
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| { | |
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| "action_text": "Place the held shrimp chips on the position containing shrimp chips with the left arm.", | |
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| { | |
| "episode_id": 1236446, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelves and the replenishment bin, which holds the goods.", | |
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| { | |
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| { | |
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| { | |
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| { | |
| "episode_id": 1236465, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelf and the replenishment bin, which contains goods.", | |
| "label_info": { | |
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| { | |
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| { | |
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| { | |
| "episode_id": 1236490, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelf and the replenishment bin, which contains goods.", | |
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| { | |
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| { | |
| "episode_id": 1236497, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelf and the restocking bin, which contains goods.", | |
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| { | |
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| { | |
| "episode_id": 1236384, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelf and the replenishment bin, with the bin containing goods.", | |
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| { | |
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| { | |
| "episode_id": 1236508, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelves and the replenishment bin containing goods.", | |
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| { | |
| "episode_id": 1236501, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelving unit and the replenishment bin, with the bin containing goods.", | |
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| { | |
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| { | |
| "episode_id": 1236519, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelf and the replenishment container, which is stocked with goods.", | |
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| { | |
| "episode_id": 1236514, | |
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| "init_scene_text": "The robot faces the shelves and the replenishment bin, which contains the goods.", | |
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| { | |
| "episode_id": 1236685, | |
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| { | |
| "episode_id": 1236713, | |
| "task_name": "Restock supermarket snacks", | |
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| { | |
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| { | |
| "episode_id": 1236740, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelf and the replenishment bin, with goods placed inside the replenishment bin.", | |
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| { | |
| "episode_id": 1236757, | |
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| { | |
| "episode_id": 1236765, | |
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| { | |
| "episode_id": 1236803, | |
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| { | |
| "episode_id": 1236812, | |
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| { | |
| "episode_id": 1236820, | |
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| { | |
| "episode_id": 1236841, | |
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| { | |
| "episode_id": 1236895, | |
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| { | |
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| { | |
| "episode_id": 1236913, | |
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| { | |
| "episode_id": 1236889, | |
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| { | |
| "episode_id": 1236920, | |
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| "init_scene_text": "The robot is positioned in front of the shelf and the replenishment bin, which contains items for restocking.", | |
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| { | |
| "episode_id": 1236794, | |
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| { | |
| "episode_id": 1236932, | |
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| { | |
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| { | |
| "episode_id": 1236923, | |
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| { | |
| "episode_id": 1236950, | |
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| { | |
| "episode_id": 1236958, | |
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| "init_scene_text": "The robot is positioned in front of the shelf and the replenishment bin, which contains goods.", | |
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| { | |
| "start_frame": 0, | |
| "end_frame": 223, | |
| "action_text": "Pick up the crispy corn triangles in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 223, | |
| "end_frame": 646, | |
| "action_text": "Place the held crispy corn triangles on the position with crispy corn triangles using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 646, | |
| "end_frame": 867, | |
| "action_text": "Pick up the shrimp chips from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 867, | |
| "end_frame": 990, | |
| "action_text": "Place the held shrimp chips on the position containing shrimp chips with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1236943, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faced the shelves and the replenishment bin containing goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 238, | |
| "action_text": "Pick up the magic crisps in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 238, | |
| "end_frame": 701, | |
| "action_text": "Place the held magic crisps on the position with magic crisps using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 701, | |
| "end_frame": 909, | |
| "action_text": "Pick up the shrimp chips from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 909, | |
| "end_frame": 1025, | |
| "action_text": "Place the held shrimp chips on the position containing shrimp chips with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1236970, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelves and the restocking bin, which contains goods for replenishment.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 196, | |
| "action_text": "Pick up the crispy corn snacks in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 196, | |
| "end_frame": 618, | |
| "action_text": "Place the held crispy corn snacks on the position with crispy corn snacks using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 618, | |
| "end_frame": 809, | |
| "action_text": "Pick up the shrimp chips from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 809, | |
| "end_frame": 911, | |
| "action_text": "Place the held shrimp chips on the position containing shrimp chips with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1236964, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelf and the replenishment bin, with goods placed inside the replenishment bin.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 211, | |
| "action_text": "Pick up the crispy corn snacks in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 211, | |
| "end_frame": 623, | |
| "action_text": "Place the held crispy corn snacks on the position with crispy corn snacks using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 623, | |
| "end_frame": 811, | |
| "action_text": "Pick up the shrimp chips from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 811, | |
| "end_frame": 915, | |
| "action_text": "Place the held shrimp chips on the position containing shrimp chips with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237018, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot is positioned in front of the shelves and the replenishment cart containing goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 236, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 236, | |
| "end_frame": 612, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 612, | |
| "end_frame": 812, | |
| "action_text": "Pick up the red large bag potato strips from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 812, | |
| "end_frame": 965, | |
| "action_text": "Place the held red large bag potato strips on the position containing red large bag potato strips with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237061, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot is facing the shelves and the replenishment bin, with goods in the replenishment bin.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 201, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 201, | |
| "end_frame": 617, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 617, | |
| "end_frame": 797, | |
| "action_text": "Pick up the red large bag potato strips from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 797, | |
| "end_frame": 926, | |
| "action_text": "Place the held red large bag potato strips on the position containing red large bag potato strips with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237042, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelf and the replenishment bin, which contains the goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 196, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 196, | |
| "end_frame": 569, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 569, | |
| "end_frame": 748, | |
| "action_text": "Pick up the large red bag of potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 748, | |
| "end_frame": 849, | |
| "action_text": "Place the held large red bag of potato sticks on the position containing large red bag of potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237031, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelves and the restocking bin, with goods placed inside the replenishment container.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 201, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 201, | |
| "end_frame": 643, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 643, | |
| "end_frame": 821, | |
| "action_text": "Pick up the large red bag of potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 821, | |
| "end_frame": 940, | |
| "action_text": "Place the held large red bag of potato sticks on the position containing large red bag of potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237027, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot is positioned facing the shelves and the replenishment bin, which contains goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 186, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 186, | |
| "end_frame": 577, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 577, | |
| "end_frame": 766, | |
| "action_text": "Pick up the large red bag of potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 766, | |
| "end_frame": 887, | |
| "action_text": "Place the held large red bag of potato sticks on the position containing large red bag of potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237023, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelves and the replenishment bin containing goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 208, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 208, | |
| "end_frame": 601, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 601, | |
| "end_frame": 800, | |
| "action_text": "Pick up the red large bag potato strips from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 800, | |
| "end_frame": 927, | |
| "action_text": "Place the held red large bag potato strips on the position containing red large bag potato strips with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237036, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelf and the replenishment bin, which contains goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 195, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 195, | |
| "end_frame": 632, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 632, | |
| "end_frame": 814, | |
| "action_text": "Pick up the large red bag of potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 814, | |
| "end_frame": 914, | |
| "action_text": "Place the held large red bag of potato sticks on the position containing large red bag of potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237051, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot is facing the shelf and the replenishment bin, which contains goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 196, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 196, | |
| "end_frame": 616, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 616, | |
| "end_frame": 804, | |
| "action_text": "Pick up the red large bag potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 804, | |
| "end_frame": 899, | |
| "action_text": "Place the held red large bag potato sticks on the position containing red large bag potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237065, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelves and the replenishment bin containing goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 199, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 199, | |
| "end_frame": 625, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 625, | |
| "end_frame": 811, | |
| "action_text": "Pick up the red large bag potato strips from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 811, | |
| "end_frame": 922, | |
| "action_text": "Place the held red large bag potato strips on the position containing red large bag potato strips with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237096, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelves and the replenishment bin, which contains the goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 182, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 182, | |
| "end_frame": 594, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 594, | |
| "end_frame": 787, | |
| "action_text": "Pick up the large red bag of potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 787, | |
| "end_frame": 902, | |
| "action_text": "Place the held large red bag of potato sticks on the position containing large red bag of potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237046, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelf and the replenishment bin containing goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 194, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 194, | |
| "end_frame": 611, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 611, | |
| "end_frame": 784, | |
| "action_text": "Pick up the red big bag potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 784, | |
| "end_frame": 887, | |
| "action_text": "Place the held red big bag potato sticks on the position containing red big bag potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237087, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelves and the restocking bin, which is filled with goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 216, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 216, | |
| "end_frame": 605, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 605, | |
| "end_frame": 848, | |
| "action_text": "Pick up the large red bag of potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 848, | |
| "end_frame": 959, | |
| "action_text": "Place the held large red bag of potato sticks on the position containing large red bag of potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237100, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelves and a replenishment bin containing goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 192, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 192, | |
| "end_frame": 586, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 586, | |
| "end_frame": 762, | |
| "action_text": "Pick up the large red bag of potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 762, | |
| "end_frame": 870, | |
| "action_text": "Place the held large red bag of potato sticks on the position containing large red bag of potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237153, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faced the shelves and the restocking bin, which held the goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 196, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 196, | |
| "end_frame": 542, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 542, | |
| "end_frame": 732, | |
| "action_text": "Pick up the large red bag of potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 732, | |
| "end_frame": 827, | |
| "action_text": "Place the held large red bag of potato sticks on the position containing large red bag of potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237161, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot is positioned in front of the shelf and the replenishment bin, which contains the goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 208, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 208, | |
| "end_frame": 603, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 603, | |
| "end_frame": 791, | |
| "action_text": "Pick up the red large bag potato strips from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 791, | |
| "end_frame": 1049, | |
| "action_text": "Place the held red large bag potato strips on the position containing red large bag potato strips with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237105, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelves and the restocking bin, which holds the goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 200, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 200, | |
| "end_frame": 569, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 569, | |
| "end_frame": 742, | |
| "action_text": "Pick up the red large bag potato strips from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 742, | |
| "end_frame": 846, | |
| "action_text": "Place the held red large bag potato strips on the position containing red large bag potato strips with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237159, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelf and the replenishment bin, which contains the goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 196, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 196, | |
| "end_frame": 559, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 559, | |
| "end_frame": 738, | |
| "action_text": "Pick up the red large bag potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 738, | |
| "end_frame": 846, | |
| "action_text": "Place the held red large bag potato sticks on the position containing red large bag potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237188, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelf and the restocking bin, which holds the items.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 210, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 210, | |
| "end_frame": 568, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 568, | |
| "end_frame": 776, | |
| "action_text": "Pick up the red big bag potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 776, | |
| "end_frame": 931, | |
| "action_text": "Place the held red big bag potato sticks on the position containing red big bag potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237169, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelf and the replenishment bin, which holds the goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 191, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 191, | |
| "end_frame": 614, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 614, | |
| "end_frame": 807, | |
| "action_text": "Pick up the large red bag of potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 807, | |
| "end_frame": 925, | |
| "action_text": "Place the held large red bag of potato sticks on the position containing large red bag of potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237193, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faced the shelves and the replenishment bin, which held the goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 198, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 198, | |
| "end_frame": 544, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 544, | |
| "end_frame": 721, | |
| "action_text": "Pick up the large red bag of potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 721, | |
| "end_frame": 853, | |
| "action_text": "Place the held large red bag of potato sticks on the position containing large red bag of potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237199, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelves and the replenishment bin containing goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 199, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 199, | |
| "end_frame": 548, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 548, | |
| "end_frame": 741, | |
| "action_text": "Pick up the large red bag of potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 741, | |
| "end_frame": 839, | |
| "action_text": "Place the held large red bag of potato sticks on the position containing large red bag of potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237215, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelves and the replenishment bin, which contains the goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 196, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 196, | |
| "end_frame": 549, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 549, | |
| "end_frame": 725, | |
| "action_text": "Pick up the red large bag potato strips from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 725, | |
| "end_frame": 818, | |
| "action_text": "Place the held red large bag potato strips on the position containing red large bag potato strips with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237223, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelf and the replenishment bin, which holds the goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 205, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 205, | |
| "end_frame": 592, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 592, | |
| "end_frame": 779, | |
| "action_text": "Pick up the red large bag potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 779, | |
| "end_frame": 892, | |
| "action_text": "Place the held red large bag potato sticks on the position containing red large bag potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237202, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelf and the replenishment bin containing goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 198, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 198, | |
| "end_frame": 522, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 522, | |
| "end_frame": 715, | |
| "action_text": "Pick up the large red bag of potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 715, | |
| "end_frame": 829, | |
| "action_text": "Place the held large red bag of potato sticks on the position containing large red bag of potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237213, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelf and the replenishment bin containing goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 215, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 215, | |
| "end_frame": 574, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 574, | |
| "end_frame": 761, | |
| "action_text": "Pick up the red large bag potato strips from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 761, | |
| "end_frame": 875, | |
| "action_text": "Place the held red large bag potato strips on the position containing red large bag potato strips with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237237, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelf and the replenishment bin, with the bin containing goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 199, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 199, | |
| "end_frame": 514, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 514, | |
| "end_frame": 700, | |
| "action_text": "Pick up the large red bag of potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 700, | |
| "end_frame": 811, | |
| "action_text": "Place the held large red bag of potato sticks on the position containing large red bag of potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237230, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelves and the replenishment bin containing goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 189, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 189, | |
| "end_frame": 568, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 568, | |
| "end_frame": 751, | |
| "action_text": "Pick up the red big bag potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 751, | |
| "end_frame": 849, | |
| "action_text": "Place the held red big bag potato sticks on the position containing red big bag potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237244, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelves and the replenishment bin containing goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 223, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 223, | |
| "end_frame": 581, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 581, | |
| "end_frame": 779, | |
| "action_text": "Pick up the large red bag of potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 779, | |
| "end_frame": 878, | |
| "action_text": "Place the held large red bag of potato sticks on the position containing large red bag of potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237271, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelves and replenishment bins, with the bins containing goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 211, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 211, | |
| "end_frame": 542, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 542, | |
| "end_frame": 742, | |
| "action_text": "Pick up the red large bag potato strips from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 742, | |
| "end_frame": 840, | |
| "action_text": "Place the held red large bag potato strips on the position containing red large bag potato strips with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237255, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelf and the replenishment bin, with goods placed inside the replenishment bin.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 187, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 187, | |
| "end_frame": 548, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 548, | |
| "end_frame": 728, | |
| "action_text": "Pick up the red large bag potato strips from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 728, | |
| "end_frame": 841, | |
| "action_text": "Place the held red large bag potato strips on the position containing red large bag potato strips with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237251, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelves and the replenishment bin, which contains goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 182, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 182, | |
| "end_frame": 537, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 537, | |
| "end_frame": 781, | |
| "action_text": "Pick up the large red bag of potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 781, | |
| "end_frame": 988, | |
| "action_text": "Place the held large red bag of potato sticks on the position containing large red bag of potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237265, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot is positioned in front of the shelves and the replenishment bin, which contains goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 183, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 183, | |
| "end_frame": 525, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 525, | |
| "end_frame": 712, | |
| "action_text": "Pick up the large red bag of potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 712, | |
| "end_frame": 828, | |
| "action_text": "Place the held large red bag of potato sticks on the position containing large red bag of potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237262, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelving and the restocking bin containing items.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 196, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 196, | |
| "end_frame": 534, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 534, | |
| "end_frame": 706, | |
| "action_text": "Pick up the red large bag potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 706, | |
| "end_frame": 805, | |
| "action_text": "Place the held red large bag potato sticks on the position containing red large bag potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237278, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelves and the replenishment bin containing goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 196, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 196, | |
| "end_frame": 761, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 761, | |
| "end_frame": 937, | |
| "action_text": "Pick up the large red bag of potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 937, | |
| "end_frame": 1048, | |
| "action_text": "Place the held large red bag of potato sticks on the position containing large red bag of potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237287, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot is positioned facing the shelves and the replenishment bin, which is stocked with goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 58, | |
| "end_frame": 245, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 245, | |
| "end_frame": 722, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 722, | |
| "end_frame": 931, | |
| "action_text": "Pick up the red big bag potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 931, | |
| "end_frame": 1090, | |
| "action_text": "Place the held red big bag potato sticks on the position containing red big bag potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237293, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot is positioned in front of the shelf and the replenishment bin, which contains the goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 193, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 193, | |
| "end_frame": 593, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 593, | |
| "end_frame": 787, | |
| "action_text": "Pick up the large red bag of potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 787, | |
| "end_frame": 886, | |
| "action_text": "Place the held large red bag of potato sticks on the position containing large red bag of potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237322, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faced the shelves and the replenishment bin, which contained goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 197, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 197, | |
| "end_frame": 540, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 540, | |
| "end_frame": 729, | |
| "action_text": "Pick up the large red bag of potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 729, | |
| "end_frame": 841, | |
| "action_text": "Place the held large red bag of potato sticks on the position containing large red bag of potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237331, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelves and the replenishment bin, which contains goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 184, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 184, | |
| "end_frame": 601, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 601, | |
| "end_frame": 808, | |
| "action_text": "Pick up the large red bag of potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 808, | |
| "end_frame": 929, | |
| "action_text": "Place the held large red bag of potato sticks on the position containing large red bag of potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237298, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelf and the replenishment bin, with the bin containing the goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 217, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 217, | |
| "end_frame": 553, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 553, | |
| "end_frame": 775, | |
| "action_text": "Pick up the red large bag potato strips from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 775, | |
| "end_frame": 874, | |
| "action_text": "Place the held red large bag potato strips on the position containing red large bag potato strips with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237445, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot is facing the shelves and a replenishment bin, which contains goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 182, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 182, | |
| "end_frame": 527, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 527, | |
| "end_frame": 699, | |
| "action_text": "Pick up the red big bag potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 699, | |
| "end_frame": 795, | |
| "action_text": "Place the held red big bag potato sticks on the position containing red big bag potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237436, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelf and the replenishment bin, with the bin containing items ready for restocking.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 192, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 192, | |
| "end_frame": 515, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 515, | |
| "end_frame": 696, | |
| "action_text": "Pick up the large red bag of potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 696, | |
| "end_frame": 790, | |
| "action_text": "Place the held large red bag of potato sticks on the position containing large red bag of potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237429, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelves and the replenishment bin, which contains goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 213, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 213, | |
| "end_frame": 685, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 685, | |
| "end_frame": 864, | |
| "action_text": "Pick up the red large bag potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 864, | |
| "end_frame": 971, | |
| "action_text": "Place the held red large bag potato sticks on the position containing red large bag potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237449, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelves and the replenishment bin containing goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 185, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 185, | |
| "end_frame": 511, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 511, | |
| "end_frame": 686, | |
| "action_text": "Pick up the large red bag of potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 686, | |
| "end_frame": 776, | |
| "action_text": "Place the held large red bag of potato sticks on the position containing large red bag of potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237317, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelves and the replenishment bin containing goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 210, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 210, | |
| "end_frame": 600, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 600, | |
| "end_frame": 794, | |
| "action_text": "Pick up the red large bag potato strips from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 794, | |
| "end_frame": 908, | |
| "action_text": "Place the held red large bag potato strips on the position containing red large bag potato strips with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237455, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelf and the replenishment bin, with the bin containing goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 206, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 206, | |
| "end_frame": 533, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 533, | |
| "end_frame": 714, | |
| "action_text": "Pick up the large red bag of potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 714, | |
| "end_frame": 798, | |
| "action_text": "Place the held large red bag of potato sticks on the position containing large red bag of potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237460, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faced the shelves and the replenishment bin, which contained the goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 181, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 181, | |
| "end_frame": 508, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 508, | |
| "end_frame": 691, | |
| "action_text": "Pick up the large red bag of potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 691, | |
| "end_frame": 809, | |
| "action_text": "Place the held large red bag of potato sticks on the position containing large red bag of potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237467, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelves and the replenishment bin, which contains the goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 189, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 189, | |
| "end_frame": 517, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 517, | |
| "end_frame": 696, | |
| "action_text": "Pick up the red large bag potato strips from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 696, | |
| "end_frame": 794, | |
| "action_text": "Place the held red large bag potato strips on the position containing red large bag potato strips with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237514, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelves and replenishment bins, with the replenishment bins containing goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 230, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 230, | |
| "end_frame": 678, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 678, | |
| "end_frame": 877, | |
| "action_text": "Pick up the red big bag potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 877, | |
| "end_frame": 1048, | |
| "action_text": "Place the held red big bag potato sticks on the position containing red big bag potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237521, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelves and the replenishment bin containing goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 256, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 256, | |
| "end_frame": 842, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 842, | |
| "end_frame": 1067, | |
| "action_text": "Pick up the large red bag of potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 1067, | |
| "end_frame": 1183, | |
| "action_text": "Place the held large red bag of potato sticks on the position containing large red bag of potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237540, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelf and the replenishment bin containing goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 259, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 259, | |
| "end_frame": 834, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 834, | |
| "end_frame": 1074, | |
| "action_text": "Pick up the red large bag potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 1074, | |
| "end_frame": 1185, | |
| "action_text": "Place the held red large bag potato sticks on the position containing red large bag potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237546, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot is positioned in front of the shelves and the replenishment bin containing goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 228, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 228, | |
| "end_frame": 663, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 663, | |
| "end_frame": 884, | |
| "action_text": "Pick up the large red bag of potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 884, | |
| "end_frame": 1022, | |
| "action_text": "Place the held large red bag of potato sticks on the position containing large red bag of potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237551, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelves and the replenishment bin, which contains goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 271, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 271, | |
| "end_frame": 794, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 794, | |
| "end_frame": 1009, | |
| "action_text": "Pick up the red large bag potato strips from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 1009, | |
| "end_frame": 1137, | |
| "action_text": "Place the held red large bag potato strips on the position containing red large bag potato strips with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237555, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot is positioned in front of the shelves and a replenishment bin containing goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 238, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 238, | |
| "end_frame": 758, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 758, | |
| "end_frame": 965, | |
| "action_text": "Pick up the large red bag of potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 965, | |
| "end_frame": 1064, | |
| "action_text": "Place the held large red bag of potato sticks on the position containing large red bag of potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237589, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelves and the restocking bin, which contains the goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 215, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 215, | |
| "end_frame": 750, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 750, | |
| "end_frame": 1012, | |
| "action_text": "Pick up the red big bag potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 1012, | |
| "end_frame": 1147, | |
| "action_text": "Place the held red big bag potato sticks on the position containing red big bag potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237562, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelf and the replenishment bin containing goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 234, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 234, | |
| "end_frame": 767, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 767, | |
| "end_frame": 985, | |
| "action_text": "Pick up the large red bag of potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 985, | |
| "end_frame": 1105, | |
| "action_text": "Place the held large red bag of potato sticks on the position containing large red bag of potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237573, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot is positioned in front of the shelves and a restocking container filled with goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 253, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 253, | |
| "end_frame": 735, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 735, | |
| "end_frame": 968, | |
| "action_text": "Pick up the red large bag potato strips from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 968, | |
| "end_frame": 1086, | |
| "action_text": "Place the held red large bag potato strips on the position containing red large bag potato strips with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237608, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot is positioned in front of the shelf and the replenishment bin, with goods placed in the replenishment bin.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 190, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 190, | |
| "end_frame": 557, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 557, | |
| "end_frame": 709, | |
| "action_text": "Pick up the red large bag potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 709, | |
| "end_frame": 814, | |
| "action_text": "Place the held red large bag potato sticks on the position containing red large bag potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237605, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot is facing the shelves and the replenishment bin, which contains goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 197, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 197, | |
| "end_frame": 519, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 519, | |
| "end_frame": 671, | |
| "action_text": "Pick up the large red bag of potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 671, | |
| "end_frame": 768, | |
| "action_text": "Place the held large red bag of potato sticks on the position containing large red bag of potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237631, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelf and the replenishment bin containing goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 180, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 180, | |
| "end_frame": 578, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 578, | |
| "end_frame": 751, | |
| "action_text": "Pick up the large red bag of potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 751, | |
| "end_frame": 841, | |
| "action_text": "Place the held large red bag of potato sticks on the position containing large red bag of potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237624, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot is facing the shelves and the replenishment bin containing goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 185, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 185, | |
| "end_frame": 549, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 549, | |
| "end_frame": 706, | |
| "action_text": "Pick up the red large bag potato strips from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 706, | |
| "end_frame": 808, | |
| "action_text": "Place the held red large bag potato strips on the position containing red large bag potato strips with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237617, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelves and the replenishment bin containing goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 189, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 189, | |
| "end_frame": 590, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 590, | |
| "end_frame": 742, | |
| "action_text": "Pick up the large red bag of potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 742, | |
| "end_frame": 828, | |
| "action_text": "Place the held large red bag of potato sticks on the position containing large red bag of potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237643, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelves and the replenishment frame, with goods placed inside the replenishment frame.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 179, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 179, | |
| "end_frame": 544, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 544, | |
| "end_frame": 722, | |
| "action_text": "Pick up the large red bag of potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 722, | |
| "end_frame": 822, | |
| "action_text": "Place the held large red bag of potato sticks on the position containing large red bag of potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237634, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelves and the replenishment cart, with goods placed inside the replenishment cart.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 196, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 196, | |
| "end_frame": 610, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 610, | |
| "end_frame": 781, | |
| "action_text": "Pick up the red big bag potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 781, | |
| "end_frame": 896, | |
| "action_text": "Place the held red big bag potato sticks on the position containing red big bag potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237682, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot is positioned in front of the shelf and the replenishment bin, which contains the goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 204, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 204, | |
| "end_frame": 558, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 558, | |
| "end_frame": 753, | |
| "action_text": "Pick up the large red bag of potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 753, | |
| "end_frame": 877, | |
| "action_text": "Place the held large red bag of potato sticks on the position containing large red bag of potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237659, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelves and the replenishment bin containing goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 174, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 174, | |
| "end_frame": 562, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 562, | |
| "end_frame": 773, | |
| "action_text": "Pick up the red large bag potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 773, | |
| "end_frame": 1011, | |
| "action_text": "Place the held red large bag potato sticks on the position containing red large bag potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237688, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelf and the replenishment bin, which contains goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 188, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 188, | |
| "end_frame": 585, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 585, | |
| "end_frame": 770, | |
| "action_text": "Pick up the large red bag of potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 770, | |
| "end_frame": 873, | |
| "action_text": "Place the held large red bag of potato sticks on the position containing large red bag of potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237653, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelf and the replenishment bin, which holds the goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 171, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 171, | |
| "end_frame": 626, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 626, | |
| "end_frame": 773, | |
| "action_text": "Pick up the red large bag potato strips from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 773, | |
| "end_frame": 889, | |
| "action_text": "Place the held red large bag potato strips on the position containing red large bag potato strips with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237692, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot faces the shelves and the replenishment bin containing goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 194, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 194, | |
| "end_frame": 551, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 551, | |
| "end_frame": 731, | |
| "action_text": "Pick up the red large bag potato strips from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 731, | |
| "end_frame": 835, | |
| "action_text": "Place the held red large bag potato strips on the position containing red large bag potato strips with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1237701, | |
| "task_name": "Restock supermarket snacks", | |
| "init_scene_text": "The robot is positioned in front of the shelves and the restocking bin, which contains the goods.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 194, | |
| "action_text": "Pick up the purple taro chips in the restocking box with the right arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 194, | |
| "end_frame": 532, | |
| "action_text": "Place the held purple taro chips on the position with purple taro chips using the right arm.", | |
| "skill": "Place" | |
| }, | |
| { | |
| "start_frame": 532, | |
| "end_frame": 745, | |
| "action_text": "Pick up the large red bag of potato sticks from the restocking bin with the left arm.", | |
| "skill": "Pick" | |
| }, | |
| { | |
| "start_frame": 745, | |
| "end_frame": 834, | |
| "action_text": "Place the held large red bag of potato sticks on the position containing large red bag of potato sticks with the left arm.", | |
| "skill": "Place" | |
| } | |
| ] | |
| } | |
| } | |
| ] |