[
  {
    "asset_id": "molmo__Bowl_6",
    "categories": [
      "bowl"
    ],
    "episodes": [
      "round_0162_set_table_000162",
      "round_continuous_set_table_000194",
      "round_continuous_set_table_000201"
    ]
  },
  {
    "asset_id": "robocasa__lightwheel__glass_cup__GlassCup025",
    "categories": [
      "cup"
    ],
    "episodes": [
      "round_0162_set_table_000162",
      "round_continuous_set_table_000172",
      "round_continuous_unpack_and_sort_groceries_000163"
    ]
  },
  {
    "asset_id": "molmo__Bowl_15",
    "categories": [
      "bowl"
    ],
    "episodes": [
      "round_0162_clear_and_store_000162",
      "round_continuous_clear_and_store_000166",
      "round_continuous_clear_and_store_000167",
      "round_continuous_clear_and_store_000170",
      "round_continuous_clear_and_store_000171",
      "round_continuous_clear_and_store_000172",
      "round_continuous_clear_and_store_000173",
      "round_continuous_clear_and_store_000174",
      "round_continuous_clear_and_store_000175",
      "round_continuous_clear_and_store_000176",
      "round_continuous_clear_and_store_000177",
      "round_continuous_clear_and_store_000178",
      "round_continuous_set_table_000172"
    ]
  },
  {
    "asset_id": "molmo__Mug_3",
    "categories": [
      "cup"
    ],
    "episodes": [
      "round_0162_clear_and_store_000162",
      "round_continuous_clear_and_store_000166",
      "round_continuous_clear_and_store_000167",
      "round_continuous_clear_and_store_000170",
      "round_continuous_clear_and_store_000171",
      "round_continuous_clear_and_store_000172",
      "round_continuous_clear_and_store_000173",
      "round_continuous_clear_and_store_000174",
      "round_continuous_clear_and_store_000175",
      "round_continuous_clear_and_store_000176",
      "round_continuous_clear_and_store_000177",
      "round_continuous_clear_and_store_000178",
      "round_continuous_set_table_000182",
      "round_continuous_unpack_and_sort_groceries_000172",
      "round_continuous_unpack_and_sort_groceries_000174"
    ]
  },
  {
    "asset_id": "robocasa__lightwheel__juice__Juice006",
    "categories": [
      "drink_bottle"
    ],
    "episodes": [
      "round_0162_unpack_and_sort_groceries_000162",
      "round_continuous_prepare_and_serve_meal_000167",
      "round_continuous_prepare_and_serve_meal_000168",
      "round_continuous_prepare_and_serve_meal_000169",
      "round_continuous_prepare_and_serve_meal_000170",
      "round_continuous_prepare_and_serve_meal_000171",
      "round_continuous_prepare_and_serve_meal_000172",
      "round_continuous_prepare_and_serve_meal_000173",
      "round_continuous_prepare_and_serve_meal_000174",
      "round_continuous_prepare_and_serve_meal_000175",
      "round_continuous_unpack_and_sort_groceries_000163",
      "round_continuous_unpack_and_sort_groceries_000164",
      "round_continuous_unpack_and_sort_groceries_000165",
      "round_continuous_unpack_and_sort_groceries_000166",
      "round_continuous_unpack_and_sort_groceries_000167",
      "round_continuous_unpack_and_sort_groceries_000168",
      "round_continuous_unpack_and_sort_groceries_000169",
      "round_continuous_unpack_and_sort_groceries_000170",
      "round_continuous_unpack_and_sort_groceries_000171",
      "round_continuous_unpack_and_sort_groceries_000172",
      "round_continuous_unpack_and_sort_groceries_000173",
      "round_continuous_unpack_and_sort_groceries_000174",
      "round_continuous_unpack_and_sort_groceries_000175",
      "round_continuous_unpack_and_sort_groceries_000176",
      "round_continuous_unpack_and_sort_groceries_000177",
      "round_continuous_unpack_and_sort_groceries_000178",
      "round_continuous_unpack_and_sort_groceries_000179",
      "round_continuous_unpack_and_sort_groceries_000180",
      "round_continuous_unpack_and_sort_groceries_000181"
    ]
  },
  {
    "asset_id": "authored/snack_box",
    "categories": [
      "snack_box"
    ],
    "episodes": [
      "round_0162_unpack_and_sort_groceries_000162",
      "round_continuous_unpack_and_sort_groceries_000163",
      "round_continuous_unpack_and_sort_groceries_000164",
      "round_continuous_unpack_and_sort_groceries_000165",
      "round_continuous_unpack_and_sort_groceries_000166",
      "round_continuous_unpack_and_sort_groceries_000167",
      "round_continuous_unpack_and_sort_groceries_000168",
      "round_continuous_unpack_and_sort_groceries_000169",
      "round_continuous_unpack_and_sort_groceries_000170",
      "round_continuous_unpack_and_sort_groceries_000171",
      "round_continuous_unpack_and_sort_groceries_000172",
      "round_continuous_unpack_and_sort_groceries_000173",
      "round_continuous_unpack_and_sort_groceries_000174",
      "round_continuous_unpack_and_sort_groceries_000175",
      "round_continuous_unpack_and_sort_groceries_000176",
      "round_continuous_unpack_and_sort_groceries_000177",
      "round_continuous_unpack_and_sort_groceries_000178",
      "round_continuous_unpack_and_sort_groceries_000179",
      "round_continuous_unpack_and_sort_groceries_000180",
      "round_continuous_unpack_and_sort_groceries_000181"
    ]
  },
  {
    "asset_id": "authored/basket",
    "categories": [
      "basket"
    ],
    "episodes": [
      "round_0162_unpack_and_sort_groceries_000162",
      "round_continuous_unpack_and_sort_groceries_000163",
      "round_continuous_unpack_and_sort_groceries_000164",
      "round_continuous_unpack_and_sort_groceries_000165",
      "round_continuous_unpack_and_sort_groceries_000166",
      "round_continuous_unpack_and_sort_groceries_000167",
      "round_continuous_unpack_and_sort_groceries_000168",
      "round_continuous_unpack_and_sort_groceries_000169",
      "round_continuous_unpack_and_sort_groceries_000170",
      "round_continuous_unpack_and_sort_groceries_000171",
      "round_continuous_unpack_and_sort_groceries_000172",
      "round_continuous_unpack_and_sort_groceries_000173",
      "round_continuous_unpack_and_sort_groceries_000174",
      "round_continuous_unpack_and_sort_groceries_000175",
      "round_continuous_unpack_and_sort_groceries_000176",
      "round_continuous_unpack_and_sort_groceries_000177",
      "round_continuous_unpack_and_sort_groceries_000178",
      "round_continuous_unpack_and_sort_groceries_000179",
      "round_continuous_unpack_and_sort_groceries_000180",
      "round_continuous_unpack_and_sort_groceries_000181"
    ]
  },
  {
    "asset_id": "robocasa__lightwheel__glass_cup__GlassCup022",
    "categories": [
      "cup"
    ],
    "episodes": [
      "round_0162_unpack_and_sort_groceries_000162",
      "round_continuous_set_table_000183",
      "round_continuous_set_table_000184",
      "round_continuous_set_table_000194",
      "round_continuous_unpack_and_sort_groceries_000167"
    ]
  },
  {
    "asset_id": "molmo__Pot_19",
    "categories": [
      "pot"
    ],
    "episodes": [
      "round_0162_warm_two_pots_000162",
      "round_continuous_warm_two_pots_000163",
      "round_continuous_warm_two_pots_000164",
      "round_continuous_warm_two_pots_000165",
      "round_continuous_warm_two_pots_000167",
      "round_continuous_warm_two_pots_000168",
      "round_continuous_warm_two_pots_000169",
      "round_continuous_warm_two_pots_000170",
      "round_continuous_warm_two_pots_000171",
      "round_continuous_warm_two_pots_000173",
      "round_continuous_warm_two_pots_000174",
      "round_continuous_warm_two_pots_000175",
      "round_continuous_warm_two_pots_000176",
      "round_continuous_warm_two_pots_000177",
      "round_continuous_warm_two_pots_000178",
      "round_continuous_warm_two_pots_000179",
      "round_continuous_warm_two_pots_000180",
      "round_continuous_warm_two_pots_000181",
      "round_continuous_warm_two_pots_000182",
      "round_continuous_warm_two_pots_000183",
      "round_continuous_warm_two_pots_000184",
      "round_continuous_warm_two_pots_000185",
      "round_continuous_warm_two_pots_000186",
      "round_continuous_warm_two_pots_000187"
    ]
  },
  {
    "asset_id": "molmo__Bowl_2",
    "categories": [
      "bowl"
    ],
    "episodes": [
      "round_0162_set_table_000163",
      "round_continuous_set_table_000170",
      "round_continuous_set_table_000192",
      "round_continuous_set_table_000197"
    ]
  },
  {
    "asset_id": "molmo__Cup_6",
    "categories": [
      "cup"
    ],
    "episodes": [
      "round_0162_set_table_000163",
      "round_continuous_unpack_and_sort_groceries_000166"
    ]
  },
  {
    "asset_id": "molmo__Cup_12",
    "categories": [
      "cup"
    ],
    "episodes": [
      "round_continuous_set_table_000185",
      "round_continuous_set_table_000201",
      "round_continuous_unpack_and_sort_groceries_000164",
      "round_continuous_unpack_and_sort_groceries_000168",
      "round_continuous_unpack_and_sort_groceries_000180"
    ]
  },
  {
    "asset_id": "robocasa__lightwheel__glass_cup__GlassCup011",
    "categories": [
      "cup"
    ],
    "episodes": [
      "round_continuous_unpack_and_sort_groceries_000165"
    ]
  },
  {
    "asset_id": "robocasa__lightwheel__tupperware__Tupperware039",
    "categories": [
      "food_container"
    ],
    "episodes": [
      "round_continuous_prepare_and_serve_meal_000167",
      "round_continuous_prepare_and_serve_meal_000168",
      "round_continuous_prepare_and_serve_meal_000169",
      "round_continuous_prepare_and_serve_meal_000170",
      "round_continuous_prepare_and_serve_meal_000171",
      "round_continuous_prepare_and_serve_meal_000172",
      "round_continuous_prepare_and_serve_meal_000173",
      "round_continuous_prepare_and_serve_meal_000174",
      "round_continuous_prepare_and_serve_meal_000175"
    ]
  },
  {
    "asset_id": "molmo__Bowl_29",
    "categories": [
      "bowl"
    ],
    "episodes": [
      "round_continuous_set_table_000169"
    ]
  },
  {
    "asset_id": "molmo__Cup_24",
    "categories": [
      "cup"
    ],
    "episodes": [
      "round_continuous_set_table_000169",
      "round_continuous_set_table_000179",
      "round_continuous_unpack_and_sort_groceries_000178",
      "round_continuous_unpack_and_sort_groceries_000181"
    ]
  },
  {
    "asset_id": "molmo__Mug_1",
    "categories": [
      "cup"
    ],
    "episodes": [
      "round_continuous_set_table_000170",
      "round_continuous_set_table_000192",
      "round_continuous_set_table_000200",
      "round_continuous_unpack_and_sort_groceries_000173"
    ]
  },
  {
    "asset_id": "molmo__Cup_14",
    "categories": [
      "cup"
    ],
    "episodes": [
      "round_continuous_unpack_and_sort_groceries_000169",
      "round_continuous_unpack_and_sort_groceries_000171"
    ]
  },
  {
    "asset_id": "molmo__Bowl_12",
    "categories": [
      "bowl"
    ],
    "episodes": [
      "round_continuous_set_table_000171",
      "round_continuous_set_table_000175",
      "round_continuous_set_table_000184"
    ]
  },
  {
    "asset_id": "molmo__Cup_13",
    "categories": [
      "cup"
    ],
    "episodes": [
      "round_continuous_set_table_000171",
      "round_continuous_set_table_000175"
    ]
  },
  {
    "asset_id": "molmo__Cup_5",
    "categories": [
      "cup"
    ],
    "episodes": [
      "round_continuous_unpack_and_sort_groceries_000170"
    ]
  },
  {
    "asset_id": "molmo__Bowl_17",
    "categories": [
      "bowl"
    ],
    "episodes": [
      "round_continuous_set_table_000176",
      "round_continuous_set_table_000180"
    ]
  },
  {
    "asset_id": "molmo__Cup_17",
    "categories": [
      "cup"
    ],
    "episodes": [
      "round_continuous_set_table_000176",
      "round_continuous_set_table_000180",
      "round_continuous_unpack_and_sort_groceries_000176"
    ]
  },
  {
    "asset_id": "molmo__Cup_27",
    "categories": [
      "cup"
    ],
    "episodes": [
      "round_continuous_unpack_and_sort_groceries_000175",
      "round_continuous_unpack_and_sort_groceries_000179"
    ]
  },
  {
    "asset_id": "molmo__Cup_16",
    "categories": [
      "cup"
    ],
    "episodes": [
      "round_continuous_set_table_000190",
      "round_continuous_unpack_and_sort_groceries_000177"
    ]
  },
  {
    "asset_id": "molmo__Bowl_20",
    "categories": [
      "bowl"
    ],
    "episodes": [
      "round_continuous_set_table_000179"
    ]
  },
  {
    "asset_id": "molmo__Bowl_28",
    "categories": [
      "bowl"
    ],
    "episodes": [
      "round_continuous_set_table_000181"
    ]
  },
  {
    "asset_id": "molmo__Cup_3",
    "categories": [
      "cup"
    ],
    "episodes": [
      "round_continuous_set_table_000181",
      "round_continuous_set_table_000197"
    ]
  },
  {
    "asset_id": "molmo__Bowl_11",
    "categories": [
      "bowl"
    ],
    "episodes": [
      "round_continuous_set_table_000182"
    ]
  },
  {
    "asset_id": "molmo__Bowl_3",
    "categories": [
      "bowl"
    ],
    "episodes": [
      "round_continuous_set_table_000183"
    ]
  },
  {
    "asset_id": "molmo__Bowl_10",
    "categories": [
      "bowl"
    ],
    "episodes": [
      "round_continuous_set_table_000185"
    ]
  },
  {
    "asset_id": "molmo__Bowl_24",
    "categories": [
      "bowl"
    ],
    "episodes": [
      "round_continuous_set_table_000186",
      "round_continuous_set_table_000200"
    ]
  },
  {
    "asset_id": "molmo__Mug_2",
    "categories": [
      "cup"
    ],
    "episodes": [
      "round_continuous_set_table_000186",
      "round_continuous_set_table_000196",
      "round_continuous_set_table_000199"
    ]
  },
  {
    "asset_id": "molmo__Bowl_30",
    "categories": [
      "bowl"
    ],
    "episodes": [
      "round_continuous_set_table_000190",
      "round_continuous_set_table_000196"
    ]
  },
  {
    "asset_id": "molmo__Bowl_18",
    "categories": [
      "bowl"
    ],
    "episodes": [
      "round_continuous_set_table_000193"
    ]
  },
  {
    "asset_id": "molmo__Cup_18",
    "categories": [
      "cup"
    ],
    "episodes": [
      "round_continuous_set_table_000193"
    ]
  },
  {
    "asset_id": "molmo__Bowl_27",
    "categories": [
      "bowl"
    ],
    "episodes": [
      "round_continuous_set_table_000199"
    ]
  }
]