task: The human places all items except the paper tape into the organizing basket.


task: The human picks up the organizing basket and places the organizing basket into the package box on the robot table.


task: The human closes the box and rotates the box by 90 degrees.


task: The human picks up the paper tape from the human table and packs the box.


task: Pick up the storage basket and place it on the left side of the robot table.


task: Pick up can-shaped waste one by one and place it into the organizing box lifted by the robot.


task: Pick up the organizing box extended by the robot.


task: Place it at the edge of the bottom right area of the robot table.


task: Pick up plastic waste one by one and place it into the organizing box lifted by the robot.


task: Place the organizing box to the left of the sorting box containing the can waste.


task: The human picks up one piece of trash that is not a can and places the trash into the appropriate organizing basket.


task: Points to one piece of trash on the table.


task: Instructs the robot to place the picked-up trash into the appropriate organizing basket.


task: The human picks up the top napkin from the stack on the human table and walks to the robot table to stand in front of one of the two trays.


task: When the robot lifts the bowl and the cup, the human unfolds the napkin and lays the napkin flat on the tray.


task: The human returns to the human table to pick up another napkin and walks to the robot table to stand in front of the tray without a napkin.


task: Point at one item on the table (excluding the box).


task: Lower both hands vertically with palms facing downward, as if pressing something closed.


task: Pick up a can or cup and place it on the tray.


task: Pick up a can or cup and place it on the tray without a can or cup.


task: Indicate the left or right side of the table.


task: Place one coaster in any one of the three lower areas of the robot table (left, center, or right).


task: Place one coaster in one of the two areas excluding the previously selected area.


task: Place one coaster in the only remaining area.


task: Pour the drink from the Filter Brewing into the 600 ml Paper Cup.


task: Place a Paper Cup Lid on the 600 ml Paper Cup.


task: Pick up the Filter Brewing and place on the middle of Human table, and return to the Robot table.


task: Place the Cup Carrier to the middle of Human table.


task: Stand in front of the robot table holding the tray containing the donuts.


task: Place one donut into the to-go box held by the robot.


task: Place the tray down in the middle of the human table.


task: Pick up an object on the table and put it in the box.


task: Close the lid of the box facing the person.


task: Hand the Lint Roller to the robot so it can easily pick it up.


task: Place the Dish drying rack down when the robot finishes cleaning.


task: Pick up one donut with tongs, place it in the donut tray, and then place the donut tray on the flat tray.


task: Lift the objects on a randomly selected tier of the Shelf.


task: Once the robot finishes cleaning, lift the objects on the remaining tiers of the Shelf.


task: A person randomly selects and points to an Airtight Container.


task: Lift the tray onto the Roll-Top Bakery Case.


task: Place the tray in the middle of the human table.


task: Hand the Duster to the robot with your right (or left) hand.


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


task: Pick up the left (or right) Handle tray and place it on the middle of the Human's table.


task: Use the Towel with hook to wipe the Plastic Matte Plate , Fork , and Knife and place into the Dish drying rack.


task: Pick up the left (or right) Handle tray and place it on the Handle tray.


task: Wrap the two Digital clocks with Bubble Wrap.


task: Place the wrapped Digital clocks inside the Package Box.


task: Hold the top and bottom flaps of the Package Box closed with your left (or right) hand.


task: Once the robot closes the right flap of the Package Box , release your left hand from the box.


task: Once the robot closes the left flap of the Package Box , seal the box with Paper Tape.


task: Place sealed Package Box in the middle of the human's table.


task: Place the Glasses inside the Glasses case.


task: Position the Glasses case on the left side of the robot's table.


task: Position the empty Package Box in the middle of the robot's table.


task: Pick up one hotel-style rolled towel and place it in the left fabric basket.


task: Pick up one hotel-style rolled towel from the table and place it in the left fabric basket.


task: Pick up a plush toy from the table and place it in a plastic storage basket.


task: Pick up a plush toy from the table and place it in the plastic storage basket containing the plush toy.


task: Pass the Power Cable under the Serving Table.


task: Grasp the Power Cable when the robot holds it and stops moving to the left of the robot table.


task: Plug the Power Cable into the Power Strip.


task: Tie one Power Cable with a Reusable Cable Tie.


task: Tie one USB Extension Cable with a Reusable Cable Tie.


task: Move from the Human Table to the front of the Robot Table.


task: Stack two of the remaining cups on top of each cup held by the robot.


task: Pick up the basket from the Human Table, bring it to the front of the robot, and present it.


task: Place the basket containing the cups in the middle of the Human Table.


task: Inspect the PCB placed by the robot, then hold it out in front of the robot.


task: Pick up the laundry basket, place it on the left side of the robot table, then take out a towel and hand it to the robot while holding both corners of one end.


task: Using the point held by the robot as a reference, grasp the opposite end, fold the towel in half, and then hold both ends of the folded towel.


task: Place the towel at the center of the robot table and fold it in half.


task: Pick up the laundry basket and place it at the center of the human table.


task: Points to the first donut from the left from the robot’s perspective.


task: Points to the second donut from the left from the robot’s perspective.


task: Points to the third donut from the left from the robot’s perspective.


task: Picks up a cup and a towel, cleans the cup with the towel, and places it on the left side of the robot table.


task: Picks up a cup from the drying rack, cleans the cup with the towel, and places it on the left side of the robot table.


task: Folds the towel in half twice and places it in the right of the table.


task: Points to the fourth donut from the left from the robot’s perspective.


task: Pick up a sheet of paper from the center of the table and hand it to the robot.


task: Point the randomly selected tray with the other hand.


task: Point to one object on the table (excluding the basket).


task: Pick up the basket, pour the towels onto the left side of the human table, and place the basket on the right side.


task: Pick up one towel and spread it out at the center of the robot table.


task: Pick up one towel from the left side of the human table, fold it in half twice, and place it on the right side of the table.


task: Pick up one towel from the left side of the human table, fold it in half twice, and stack it on the right side of the table.


task: Pick up one towel from the left side of the human table and spread it out at the center of the robot table.


task: Pick up the stack of towels from the right side of the human table, place it into the basket, and put the basket at the center of the table.


task: Pick up the stack of towels from the robot table and place it into the basket.


task: Pick up the beaker and the cylinder and move to the middle of the robot table.


task: Pour the solution from the beaker and the cylinder into the flask.


task: Place the beaker and the cylinder into the organizing basket on the left side.


task: Pick up the flask, gently shake it 2–3 times, place it in the middle of the robot table, and close the lid.


task: Pick up the organizing basket on the left side of the robot table and place it on the left side of the human table.


task: Grabs one PCB from the Storage basket; if the PCB is normal, places it in the PCB Rack on the left side of the robot table, and if defective, places it in the Organizing box on the left side of the human table.


task: Pick up the pantry basket and stand in front of the robot table.


task: Pick up the Pepsi can and hand it to the robot.


task: Pick up the Ionic drink can and hand it to the robot.


task: Release the Ionic drink can you were holding.


task: Pick up the Sprite can and hand it to the robot.


task: Release the Sprite can you were holding.


task: Hold the tray and position yourself in front of the robot table.


task: Pick up one can from the bottom area of the table and puts it back in its original place.


task: Pull the tray back, then pick up another can from the bottom area of the table and puts it back in its original place.


task: Pull the tray back and place it at the center of the human table.


task: Once a Butter Roll is inside an Airtight Container , close the lid of that Airtight Container.


task: Bring the Baking Sheet in front of Robot's Table.


task: Use the Stainless steel tongs to place one object from Baking Sheet into one Airtight Container.


task: Place Baking Sheet on the Human's Table.


task: Grip Airtight Container lid that robot is handing.


task: Close Airtight Container with a handed Airtight Container lid.


task: Pick one PCB from the tray and present it to the robot.


task: Take a drink from the Market Basket , and place it on middle of the table.


task: Spread Shoes Wrapping Paper and place inside the Shoes Box.


task: Pack a shoe of Shoes inside the Shoes Box with Shoes Wrapping Paper.


task: Place the closed Shoes Box to the right side of the human table.


task: Move the picked-up cup under the dispenser faucet, pour the drink, and place it on the tray on the human table.


task: Point to the remaining ice cup on the robot table.


task: Tear out a page from the spiral notebook.


task: Hand the torn page to the robot or crumple it and throw it to the center of the table.


task: Pick up a cup of hot Americano and place it on the right tray.


task: Pick up a cup of hot Americano from the middle of the table and place it on the right tray.


task: Take the long pants out of the laundry basket, unfold them, fold the waist in half, and extend them so the robot can pick up both corners.


task: Grasp the end opposite the point the robot is holding, fold the pants in half, and then grasp the overlapping top end of the folded pants.


task: Move the laundry basket to the right of the human table.


task: Pick up the basket and place it on the left side of the robot table.


task: Pick up one Pepsi can from the middle of the robot table and place it in the basket.


task: Pick up the basket and place it in the middle of the human table.


task: Pick up the empty basket and place it on the left side of the robot table.


task: Pick up one sports drink can from the middle of the robot table and place it in the basket.


task: Points between the two organizing baskets and instructs the robot to move the pencil case.


task: Sends a stop gesture before the robot places the pencil case into the basket.


task: Instructs the robot to place the pencil case into the opposite basket.


task: Points to the basket that does not contain the pencil case and instructs the robot to move the stapler there.


task: Pick up one lab tube from the basket and insert it into the tube holder.


task: Pour the clothes from the basket onto the center of the robot table.


task: When the robot lifts a piece of clothing, instruct tops to the left and bottoms to the right.


task: Pick up all writing instruments from the Human table.


task: Place all writing instrument into the Pen holder.


task: Place the Shoe on left side of the Robot's table.


task: Instructs the robot to move the picked-up flask to the tray.


task: Makes a stop hand signal before the robot places the flask down.


task: Instructs the robot to place the flask upright on the tray.


task: Pick up the shopping bag and place it in the middle of the robot table.


task: Pick up the basket on the right, place it on the left side of the robot table, and move the items in the basket to the shopping bag.


task: Pick up the basket with the items out and place it on the right side of the human table.


task: Move the basket on the left to the middle of the person's table.