low_level_tasks: Place both hands on the side flaps of the Package Box and spread them outward.

low_level_tasks: Lift both hands away from the flaps of the Package Box.

low_level_tasks: Press and hold the closed box until the human finishes sealing it.

high_level_instruction: Pack the gift set into the box.

task_status: success


low_level_tasks: Pick up the Organizing box on the left side of the table and lift it.

low_level_tasks: Offer the picked Organizing box to the human.

low_level_tasks: Release the Organizing box you were holding.

low_level_tasks: Pick up the Organizing box on the right side of the table and lift it.

high_level_instruction: Sort the waste into each basket.


low_level_tasks: Pick up the can waste from the table and place it in the right Fabric basket.

high_level_instruction: Sort the can waste into the basket.


tasks: Sort the waste into the appropriate baskets.

low_level_tasks: Pick up the waste item pointed out by the person.

low_level_tasks: Place the picked waste into the Fabric basket indicated by the person.


tasks: Set up a tray with a mat and arrange the tableware.

low_level_tasks: Pick up the Picnic Bowl and Reusable plastic cup from the Handle tray in front of the human's position and hold them in the air.

low_level_tasks: Place the Picnic Bowl and Reusable plastic cup back onto the Handle tray in front of the human's position.


low_level_tasks: Pick up the item indicated by the person and place it inside the Mailer Box.

high_level_instruction: Pack the item into the box.


low_level_tasks: Pick up a Picnic Bowl from the table and place it on a Handle tray.

high_level_instruction: Prepare tableware on both trays.


low_level_tasks: Hold the Lint Roller with your left hand and the towel with your right hand.

low_level_tasks: If a person points to the right, clean the right side of the table with your right hand, and if they point to the left, clean the left side with your left hand.

low_level_tasks: Clean the area not pointed to by the person.

low_level_tasks: Return the Lint Roller and towel to their original positions.

high_level_instruction: Clean the surface of the table.


tasks: Place coasters on the table and set cups on them.

low_level_tasks: Pick up one Reusable plastic cup and place it on a coaster set by the human.

low_level_tasks: Take one Reusable plastic cup from the Flat Tray and place it on a coaster set by the human.


tasks: Individually package the donuts and arrange them on the tray.

low_level_tasks: Place the picked Paper togo box on the Handle tray while simultaneously picking up another Paper togo box from the table with the other hand.

low_level_tasks: Place the picked Paper togo box on the Handle tray.

low_level_instruction: Pick up one Paper togo box.


tasks: Pour a drink into a cup and package it in a carrier.

low_level_tasks: Pick up the 600 ml Paper Cup and place it in the middle top area of the table.

low_level_tasks: When a person places the Paper Cup Lid on the 600 ml Paper Cup , lift the 600 ml Paper Cup.

low_level_tasks: Position the Cup Carrier in the center of the table.

low_level_tasks: Insert the held 600 ml Paper Cup into the Cup Carrier.


low_level_tasks: Pick up a Pencil pouch or Stapler and place it inside the Mailer Box closest to the robot.

low_level_tasks: Close the lid of the Mailer Box closest to the robot.

high_level_instruction: Place items inside the box.


low_level_tasks: Pick up the Lint Roller when the human hands it over.

low_level_tasks: Clean the table with the Lint Roller when the human lifts the Dish drying rack.

low_level_tasks: Place the Lint Roller down when the Dish drying rack is positioned in the middle of the table.

high_level_instruction: Clean the table.


low_level_tasks: Place the Butter Roll into the Airtight Container indicated by the human.

high_level_instruction: Place the bread in the container.


tasks: Provide the desired donut to the person.

low_level_tasks: Pick up and lift the Paper togo box containing the Donut pointed at by the person.

low_level_tasks: Place the picked Paper togo box onto the Handle tray extended by the person.


low_level_tasks: Pick up one Pepsi coke and place it on the Flat Tray.

low_level_tasks: Pick up one Pepsi coke from the Handle tray and place it on the Flat Tray without a Pepsi coke.

high_level_instruction: Set up donuts and drinks on trays.


low_level_tasks: Clean a specific tier of the Shelf with the Duster after the items are removed.

low_level_tasks: Clean the remaining tier of the Shelf with the Duster after the items are removed.

high_level_instruction: Clean the shelf.

low_level_instruction: Receive the Duster from the Human.


tasks: Clean the floor after clearing the dishes.

low_level_tasks: When the left (or right) Handle tray is removed, use the left hand (or right hand) to clean the left (or right) side of the table with the Lint Roller.

low_level_tasks: Place the Lint Roller back on top of the Airtight Container.

low_level_tasks: When the right (or left) Handle tray is removed, use the right hand (or left hand) to clean the right (or left) side of the table with the Lint Roller.


low_level_tasks: Pick up the Duster when the human hands it over.

low_level_tasks: Clean a randomly selected level of the Shelf with the Duster.

low_level_tasks: Clean another randomly selected level of the Shelf with the Duster.

high_level_instruction: Clean the shelves.


low_level_tasks: Pick up one hotel-folded towel and place it in the Fabric basket indicated by the person.

low_level_tasks: Pick up one hotel-folded towel from the bottom of the table and place it in the Fabric basket indicated by the person.

high_level_instruction: Divide the towels into two baskets.


tasks: Separate and place wrapped and unwrapped clocks.

low_level_tasks: Pick up the Digital clock indicated by the person.

low_level_tasks: If the picked Digital clock is wrapped, place it in the Package Box ; if not, place it in the Organizing box.


low_level_tasks: Once the human has placed the objects inside and stepped back, release both hands from the side flaps of the Package Box.

low_level_tasks: Push the right (or left) flap of the Package Box to close it.

low_level_tasks: Push the left (or right) flap of the Package Box to close it.

low_level_tasks: After the human seals the box with tape, release both hands from the side flaps of the Package Box.

high_level_instruction: Wrap the clocks to prevent damage.

low_level_instruction: Open the side flaps of the Package Box.


tasks: Pack the glasses set securely to prepare it for shipping.

low_level_tasks: Place the Glasses case inside the Package Box.

low_level_tasks: Put the Glasses case from the right side of the table into the Package Box.

low_level_tasks: Position the Package Box on the left side of the table.


tasks: Sort the digital clocks into the basket.

low_level_tasks: Pick up the Digital clock from the table and place it into the empty Plastic storage basket.


low_level_tasks: Clean the specific section of the Shelf indicated by the human with the Duster.

low_level_instruction: Pick up the Duster handed by the human.


low_level_tasks: When the cord part of the Power Cable appears at the lower middle area of the table and stops, grasp the cord part of the Power Cable.

low_level_tasks: Pull the grasped Power Cable to the location of the Power Strip.

low_level_tasks: Release the Power Cable when the human grasps it.

high_level_instruction: Perform cable management.


tasks: Sort the towels based on their folding style.

low_level_tasks: Pick up one triangle-folded towel and place it in the left Fabric basket.

low_level_tasks: Pick up another triangle-folded towel from the table and place it in the left Fabric basket.


tasks: Efficiently arrange items inside the basket to fit them all.

low_level_tasks: Pick up the Digital clock and place it inside the Organizing basket.

low_level_tasks: Pick up the Stapler and place it inside the Organizing basket.

low_level_tasks: Pick up the Reusable plastic cup and place it inside the Organizing basket.


tasks: Stack the cups and store them in the basket.

low_level_tasks: Pick up two Reusable plastic cups , one in each hand.

low_level_tasks: Place the stack of Reusable plastic cups into the Pantry Basket.


low_level_tasks: Place the Power Cable into the Organizing box.

low_level_tasks: Place the USB Extension Cable into the Organizing box.

high_level_instruction: Organize and store the cables.


low_level_tasks: Pick up the Blank PCB and present it to the human.

low_level_tasks: Pick up the Blank PCB that the human is holding.

high_level_instruction: Inspect the PCB.


low_level_tasks: Grab the top end of the 100 cm Hotel Towel extended by the human.

low_level_tasks: Release the end of the 100 cm Hotel Towel you were holding and grab the top end of the folded side.

low_level_tasks: Release the end of the 100 cm Hotel Towel you were holding.

low_level_tasks: Pick up the 100 cm Hotel Towel and place it on the left side of the table.

high_level_instruction: Fold the towel.


tasks: Clean and organize the cups into the basket.

low_level_tasks: Pick up the Organizing basket and move it to the center of the table, then pick up the Reusable plastic cup from the right side of the table and place it inside the Organizing basket.

low_level_tasks: Pick up the Reusable plastic cup from the right side of the table and stack it inside the Organizing basket in the center of the table.

low_level_tasks: Move the Organizing basket back to the left side of the table.


tasks: Place the items the person wants into the basket.

low_level_tasks: Pick up the item the person points to and place it in the Market Basket.


tasks: Place the shoes on the stand as instructed by the person.

low_level_tasks: Pick up one pair of Shoes and place it on the Shoes Stand indicated by the person.

low_level_tasks: Pick up another pair of Shoes and place it on the Shoes Stand indicated by the person.


low_level_tasks: Place the A4 Paper in the designated Handle tray.

high_level_instruction: Sort the A4 documents.

low_level_instruction: Receive the A4 Paper.


tasks: Prepare the solutions needed for the experiment.

low_level_tasks: Pick up the Plastic Funnel and insert it into the Big flask.

low_level_tasks: Once the solution is in the Big flask , pick up the Plastic Funnel and place it back into the right Organizing basket.

low_level_tasks: When the human places the Big flask in the center of the table, pick up the Big flask and place it in the left Organizing basket.


tasks: Fill the beverage cans into the dispenser.

low_level_tasks: Pick up the Pepsi coke handed by the human.

low_level_tasks: Place the picked Pepsi coke in the line of the Automatic Can Dispenser with the same cans.

low_level_tasks: Pick up the Ionic drink handed by the human.

low_level_tasks: Place the picked Ionic drink in the line of the Automatic Can Dispenser with the same cans.

low_level_tasks: Place the picked Sprite in the line of the Automatic Can Dispenser with the same cans.


tasks: Fold the towels and place them in the basket.

low_level_tasks: When a person lays out a Towel with hook on the table, fold it in half twice.

low_level_tasks: Place the folded Towel with hook on the right side of the table.

low_level_tasks: Stack the folded Towel with hook on the right side of the table.


low_level_tasks: Place the picked Reusable plastic cup into the Flat Tray indicated by the person.

low_level_tasks: Pick up the Handle plastic cup and place it into the empty Flat Tray.

high_level_instruction: Sort and store the cups by type.

low_level_instruction: Pick up the Reusable plastic cup.


tasks: Place the bread into the airtight container.

low_level_tasks: Pick up a Butter Roll and place it into an empty Airtight Container.


tasks: Place the drinks into the Shopping basket.

low_level_tasks: Pick up one drink and place it into the Shopping basket.


tasks: Organize the cables according to human instructions.

low_level_tasks: Pick up a bundle of cables and place it in the basket indicated by the human.


low_level_tasks: Place one shoe of the Shoes into the Shoes Box.

low_level_tasks: Place the other shoe of the Shoes into the Shoes Box.

high_level_instruction: Pack the shoes into the box.


low_level_tasks: If a person hands you a paper, place it in the Organizing basket , and if it's crumpled, put it in the Trash can.

high_level_instruction: Sort the paper based on its condition.


low_level_tasks: Pick up one iced Americano and place it on the right Handle tray.

low_level_tasks: Pick up another iced Americano from the middle of the table and place it on the right Handle tray.

high_level_instruction: Distribute the coffee onto the tray.


low_level_tasks: Grab both ends of the Training pants handed by a person.

low_level_tasks: Release the ends of the Training pants and then grab the overlapped ends.

high_level_instruction: Fold the training pants.


tasks: Retrieve and store the cans from the dispenser.

low_level_tasks: Pick up one can from the Automatic Can Dispenser and place it in the middle of the table.

low_level_tasks: Pick up the last remaining can from one row of the Automatic Can Dispenser and place it in the middle of the table.


low_level_tasks: Pick up the Pencil pouch that the person points to.

low_level_tasks: Move the picked Pencil pouch towards the Organizing basket indicated by the person, stopping as directed.

low_level_tasks: Place the picked Pencil pouch into the Organizing basket as instructed by the person.

low_level_tasks: Pick up the Stapler that the person points to.

low_level_tasks: Place the picked Stapler into the Organizing basket as instructed by the person.

high_level_instruction: Distribute items into two baskets.


low_level_tasks: Pick up one Large Measuring Cup and place it on the Handle tray.

low_level_tasks: Pick up one Small flask and place it on the Handle tray.

high_level_instruction: Prepare the laboratory tools.


tasks: Sort PCBs into racks and boxes based on the side picked up.

low_level_tasks: Pick up the Blank PCB handed by the Human.

low_level_tasks: If the short side of the Blank PCB is picked up, insert it into the PCB Rack ; if the long side is picked up, place it in the Organizing box.


tasks: Retrieve and hand over the desired beverage to the person.

low_level_tasks: Pick up a can of the same type that the person held from the Automatic Can Dispenser.

low_level_tasks: Place the picked can on the Handle tray extended by the person.

low_level_tasks: Pick up another can of the same type that the person held from the Automatic Can Dispenser.


low_level_tasks: Pick up the Blank PCB from the PCB Rack and place it in the left ESD tray.

low_level_tasks: Pick up the ESD tray and place it on the left side of the table.

low_level_tasks: Pick up the Blank PCB from the PCB Rack and place it in the right ESD tray.

high_level_instruction: Inspect and transfer BCBs to ESD trays.


low_level_tasks: Lift clothes from the center of the table with your left hand.

low_level_tasks: Sort the clothes according to human instructions.

low_level_tasks: Lift clothes from the center of the table with your right hand.

high_level_instruction: Sort the tops and bottoms.


low_level_tasks: Pick up the iced cup indicated by the human and present it to them.

low_level_tasks: Open the gripper to release the iced cup you were holding.

high_level_instruction: Pour the drink into the iced cup.


low_level_tasks: Once an object is inside an Airtight Container , place the container in the center of the table.

low_level_tasks: Pick up one Airtight Container lid and hand it to the human.

low_level_tasks: Release when the human grabs the Airtight Container lid.

high_level_instruction: Place the bread in airtight containers.

low_level_instruction: Lift both Airtight Container.


low_level_tasks: Pick up a writing instrument from the table and place it into the Pen holder.

high_level_instruction: Place the pens into the pen holder.


low_level_tasks: Pick up the Big flask that the person points to.

low_level_tasks: While moving the picked Big flask to the Handle tray indicated by the person, stop as directed by the person.

low_level_tasks: Place the picked Big flask upright in the Handle tray as instructed by the person.

low_level_tasks: Place the picked Big flask upright in the Handle tray as directed by the person.


tasks: Organize the shoes by placing them on the stand.

low_level_tasks: Pick up one Shoe and place it in the middle of the table.

low_level_tasks: Place the Shoe from the middle of the table onto the Shoes Stand.


tasks: Transfer purchased items from the store into the shopping bag.

low_level_tasks: Open the Reusable shopping bag in the center of the table.

low_level_tasks: Move the Reusable shopping bag to the right side of the table.