[ { "episode_id": 648751, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 585, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 585, "end_frame": 763, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 763, "end_frame": 982, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 982, "end_frame": 1229, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1229, "end_frame": 1398, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1398, "end_frame": 1571, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1571, "end_frame": 1891, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1891, "end_frame": 2042, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 2042, "end_frame": 2234, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 2234, "end_frame": 3056, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3056, "end_frame": 3298, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 3298, "end_frame": 3535, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 3535, "end_frame": 3878, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3878, "end_frame": 4243, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 4243, "end_frame": 4371, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 4371, "end_frame": 4486, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 652951, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 602, "action_text": "Lift the 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"skill": "HandOver" }, { "start_frame": 2614, "end_frame": 3103, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3103, "end_frame": 3351, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 3351, "end_frame": 3497, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 3497, "end_frame": 3772, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3772, "end_frame": 4121, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 4121, "end_frame": 4239, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 4239, "end_frame": 4323, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 653482, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 759, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 759, "end_frame": 925, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 925, "end_frame": 1167, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1167, "end_frame": 1457, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1457, "end_frame": 1601, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1601, "end_frame": 1808, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1808, "end_frame": 2071, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2071, "end_frame": 2242, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 2242, "end_frame": 2479, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 2479, "end_frame": 3017, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3017, "end_frame": 3270, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 3270, "end_frame": 3456, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 3456, "end_frame": 3714, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3714, "end_frame": 4127, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 4127, "end_frame": 4210, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 4210, "end_frame": 4292, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 653516, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 653, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 653, "end_frame": 802, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 802, "end_frame": 1058, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1058, "end_frame": 1257, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1257, "end_frame": 1381, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1381, "end_frame": 1587, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1587, "end_frame": 1807, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1807, "end_frame": 1980, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1980, "end_frame": 2224, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 2224, "end_frame": 2650, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2650, "end_frame": 2852, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2852, "end_frame": 3018, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 3018, "end_frame": 3237, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3237, "end_frame": 3601, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 3601, "end_frame": 3712, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 3712, "end_frame": 3774, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 653594, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 739, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 739, "end_frame": 924, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 924, "end_frame": 1127, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1127, "end_frame": 1327, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1327, "end_frame": 1437, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1437, "end_frame": 1652, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1652, "end_frame": 1833, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1833, "end_frame": 1931, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1931, "end_frame": 2127, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 2127, "end_frame": 2568, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2568, "end_frame": 2738, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2738, "end_frame": 2903, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2903, "end_frame": 3100, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3100, "end_frame": 3458, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 3458, "end_frame": 3552, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 3552, "end_frame": 3635, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 653618, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 597, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 597, "end_frame": 749, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 749, "end_frame": 958, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 958, "end_frame": 1156, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1156, "end_frame": 1285, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1285, "end_frame": 1471, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1471, "end_frame": 1673, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1673, "end_frame": 1806, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1806, "end_frame": 1981, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1981, "end_frame": 2528, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2528, "end_frame": 2680, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2680, "end_frame": 2874, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2874, "end_frame": 3087, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3087, "end_frame": 3452, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 3452, "end_frame": 3532, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 3532, "end_frame": 3654, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 653661, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 711, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 711, "end_frame": 854, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 854, "end_frame": 1081, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1081, "end_frame": 1293, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1293, "end_frame": 1402, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1402, "end_frame": 1589, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1589, "end_frame": 1776, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1776, "end_frame": 1923, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1923, "end_frame": 2081, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 2081, "end_frame": 2602, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2602, "end_frame": 2817, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2817, "end_frame": 2996, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2996, "end_frame": 3236, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3236, "end_frame": 3585, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 3585, "end_frame": 3658, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 3658, "end_frame": 3719, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 654077, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 843, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 843, "end_frame": 938, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 938, "end_frame": 1209, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1209, "end_frame": 1465, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1465, "end_frame": 1598, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1598, "end_frame": 1809, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1809, "end_frame": 2008, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2008, "end_frame": 2136, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 2136, "end_frame": 2635, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 2635, "end_frame": 3179, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3179, "end_frame": 3373, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 3373, "end_frame": 3584, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 3584, "end_frame": 4244, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 4244, "end_frame": 4804, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 4804, "end_frame": 4904, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 4904, "end_frame": 5087, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 654269, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 810, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 810, "end_frame": 984, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 984, "end_frame": 1182, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1182, "end_frame": 1398, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1398, "end_frame": 1590, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1590, "end_frame": 1770, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1770, "end_frame": 2010, "action_text": "Place the spoon in 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"HandOver" }, { "start_frame": 1257, "end_frame": 1494, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1494, "end_frame": 1610, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1610, "end_frame": 1874, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1874, "end_frame": 2067, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2067, "end_frame": 2442, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 2442, "end_frame": 2735, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 2735, "end_frame": 3562, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3562, "end_frame": 3782, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 3782, "end_frame": 3958, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 3958, "end_frame": 4559, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 4559, "end_frame": 4868, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 4868, "end_frame": 4945, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 4945, "end_frame": 5045, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [ { "start": 2210, "end": 2408, "description": "" } ] } }, { "episode_id": 654344, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of 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{ "start_frame": 4251, "end_frame": 4366, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 654378, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 750, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 750, "end_frame": 921, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 921, "end_frame": 1150, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1150, "end_frame": 1369, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1369, "end_frame": 1539, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1539, "end_frame": 1856, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1856, "end_frame": 2031, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2031, "end_frame": 2212, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 2212, "end_frame": 2567, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 2567, "end_frame": 2962, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2962, "end_frame": 3230, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 3230, "end_frame": 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"key_frame": [] } }, { "episode_id": 655553, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 615, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 615, "end_frame": 712, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 712, "end_frame": 950, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 950, "end_frame": 1105, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 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"skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 659644, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 620, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 620, "end_frame": 932, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 932, "end_frame": 1106, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1106, "end_frame": 1329, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1329, "end_frame": 1476, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1476, "end_frame": 1668, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1668, "end_frame": 1931, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1931, "end_frame": 2109, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 2109, "end_frame": 2462, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 2462, "end_frame": 3064, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3064, "end_frame": 3273, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 3273, "end_frame": 3496, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 3496, "end_frame": 3742, 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the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 2349, "end_frame": 2775, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2775, "end_frame": 3004, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 3004, "end_frame": 3249, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 3249, "end_frame": 3616, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3616, "end_frame": 3967, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 3967, "end_frame": 4064, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 4064, "end_frame": 4157, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 659698, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 551, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 551, "end_frame": 772, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 772, "end_frame": 954, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 954, "end_frame": 1102, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1102, "end_frame": 1273, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1273, "end_frame": 1560, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1560, "end_frame": 1715, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1715, "end_frame": 1870, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1870, "end_frame": 2188, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 2188, "end_frame": 2681, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2681, "end_frame": 2867, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2867, "end_frame": 3011, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 3011, "end_frame": 3302, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3302, "end_frame": 3655, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 3655, "end_frame": 3787, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 3787, "end_frame": 3903, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 659724, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 654, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 654, "end_frame": 808, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 808, "end_frame": 1029, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1029, "end_frame": 1308, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1308, "end_frame": 1483, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1483, "end_frame": 1650, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1650, "end_frame": 1833, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1833, "end_frame": 2004, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 2004, "end_frame": 2238, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 2238, "end_frame": 2671, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2671, "end_frame": 2867, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2867, "end_frame": 3054, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 3054, "end_frame": 3346, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3346, "end_frame": 3788, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 3788, "end_frame": 3917, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 3917, "end_frame": 4075, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 659778, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 605, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 605, "end_frame": 851, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 851, "end_frame": 1022, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1022, "end_frame": 1268, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1268, "end_frame": 1431, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1431, "end_frame": 1589, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1589, "end_frame": 1802, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1802, "end_frame": 2010, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 2010, "end_frame": 2248, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 2248, "end_frame": 2786, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2786, "end_frame": 3011, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 3011, "end_frame": 3157, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 3157, "end_frame": 3424, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3424, "end_frame": 3762, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 3762, "end_frame": 3891, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 3891, "end_frame": 4008, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 659831, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 687, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 687, "end_frame": 869, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 869, "end_frame": 1054, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1054, "end_frame": 1253, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1253, "end_frame": 1434, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1434, "end_frame": 1569, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1569, "end_frame": 1792, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1792, "end_frame": 1927, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1927, "end_frame": 2307, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 2307, "end_frame": 2838, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2838, "end_frame": 3045, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 3045, "end_frame": 3235, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 3235, "end_frame": 3539, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3539, "end_frame": 3868, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 3868, "end_frame": 3973, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 3973, "end_frame": 4095, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 659853, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 908, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 908, "end_frame": 1042, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 1042, "end_frame": 1244, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1244, "end_frame": 1481, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1481, "end_frame": 1714, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1714, "end_frame": 1886, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1886, "end_frame": 2156, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2156, "end_frame": 2351, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 2351, "end_frame": 2523, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 2523, "end_frame": 2940, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2940, "end_frame": 3147, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 3147, "end_frame": 3328, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 3328, "end_frame": 3724, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3724, "end_frame": 4004, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 4004, "end_frame": 4146, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 4146, "end_frame": 4236, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 659909, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 896, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 896, "end_frame": 1056, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 1056, "end_frame": 1298, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1298, "end_frame": 1530, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1530, "end_frame": 1712, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1712, "end_frame": 1873, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1873, "end_frame": 2083, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2083, "end_frame": 2248, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 2248, "end_frame": 2462, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 2462, "end_frame": 2979, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2979, "end_frame": 3211, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 3211, "end_frame": 3394, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 3394, "end_frame": 3750, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3750, "end_frame": 4165, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 4165, "end_frame": 4281, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 4281, "end_frame": 4415, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 659939, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 631, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 631, "end_frame": 783, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 783, "end_frame": 967, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 967, "end_frame": 1187, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1187, "end_frame": 1350, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1350, "end_frame": 1506, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1506, "end_frame": 1778, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1778, "end_frame": 1906, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1906, "end_frame": 2289, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 2289, "end_frame": 2693, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2693, "end_frame": 2868, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2868, "end_frame": 3044, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 3044, "end_frame": 3272, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3272, "end_frame": 3672, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 3672, "end_frame": 3811, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 3811, "end_frame": 3911, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 660484, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 542, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 542, "end_frame": 670, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 670, "end_frame": 913, "action_text": "Pass the chopsticks 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"skill": "Pick" }, { "start_frame": 2749, "end_frame": 2967, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2967, "end_frame": 3231, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3231, "end_frame": 3682, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 3682, "end_frame": 3774, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 3774, "end_frame": 4027, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 660539, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 649, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 649, "end_frame": 777, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 777, "end_frame": 1064, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1064, "end_frame": 1294, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1294, "end_frame": 1406, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1406, "end_frame": 1626, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1626, "end_frame": 1846, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1846, "end_frame": 1963, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1963, "end_frame": 2234, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 2234, "end_frame": 2736, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2736, "end_frame": 2879, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2879, "end_frame": 3078, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 3078, "end_frame": 3334, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3334, "end_frame": 3753, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 3753, "end_frame": 3840, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 3840, "end_frame": 4055, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 660656, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 278, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 278, "end_frame": 776, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 776, "end_frame": 969, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 969, "end_frame": 1156, 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changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 210, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 210, "end_frame": 735, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 735, "end_frame": 946, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 946, "end_frame": 1139, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1139, "end_frame": 1382, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1382, "end_frame": 1609, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1609, "end_frame": 1742, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1742, "end_frame": 1979, "action_text": "Lift the bowl with the 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"episode_id": 661190, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 564, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 564, "end_frame": 761, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 761, "end_frame": 956, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 956, "end_frame": 1211, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1211, "end_frame": 1308, 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{ "start_frame": 2154, "end_frame": 2539, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2539, "end_frame": 2735, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2735, "end_frame": 2897, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2897, "end_frame": 3198, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3198, "end_frame": 3499, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 3499, "end_frame": 3572, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 3572, "end_frame": 3644, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 661517, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 565, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 565, "end_frame": 717, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 717, "end_frame": 960, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 960, "end_frame": 1152, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1152, "end_frame": 1265, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1265, "end_frame": 1491, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1491, "end_frame": 1666, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1666, "end_frame": 1796, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1796, "end_frame": 2050, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 2050, "end_frame": 2406, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2406, "end_frame": 2593, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2593, "end_frame": 2774, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2774, "end_frame": 3062, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3062, "end_frame": 3497, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 3497, "end_frame": 3643, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 3643, "end_frame": 3722, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 661550, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 549, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 549, 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"action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 561, "end_frame": 777, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 777, "end_frame": 966, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 966, "end_frame": 1123, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1123, "end_frame": 1328, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1328, "end_frame": 1533, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1533, "end_frame": 1657, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1657, "end_frame": 1879, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1879, "end_frame": 2273, "action_text": "Place the bowl 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objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 506, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 506, "end_frame": 660, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 660, "end_frame": 911, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 911, "end_frame": 1108, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1108, "end_frame": 1255, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1255, "end_frame": 1484, "action_text": "Pass the spoon with both 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"Pull" }, { "start_frame": 3438, "end_frame": 3525, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 3525, "end_frame": 3586, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 661757, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 502, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 502, "end_frame": 628, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { 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2273, "end_frame": 2441, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2441, "end_frame": 2635, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2635, "end_frame": 2933, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2933, "end_frame": 3339, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 3339, "end_frame": 3463, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 3463, "end_frame": 3523, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 661794, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within 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the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 3532, "end_frame": 3602, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [ { "start": 1013, "end": 1296, "description": "" } ] } }, { "episode_id": 661901, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 524, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 524, "end_frame": 703, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 703, "end_frame": 859, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 859, "end_frame": 1019, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1019, "end_frame": 1125, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1125, "end_frame": 1281, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1281, "end_frame": 1429, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1429, "end_frame": 1596, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1596, "end_frame": 1896, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1896, "end_frame": 2444, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2444, "end_frame": 2600, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2600, "end_frame": 2778, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2778, "end_frame": 3135, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3135, "end_frame": 3493, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 3493, "end_frame": 3573, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 3573, "end_frame": 3626, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 661990, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view 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arm.", "skill": "Press" }, { "start_frame": 3519, "end_frame": 3582, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 662007, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 528, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 528, "end_frame": 650, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 650, "end_frame": 876, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 876, "end_frame": 1115, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1115, "end_frame": 1220, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1220, "end_frame": 1371, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1371, "end_frame": 1593, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1593, "end_frame": 1706, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1706, "end_frame": 2033, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 2033, "end_frame": 2831, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2831, "end_frame": 3048, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 3048, "end_frame": 3262, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 3262, "end_frame": 3568, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3568, "end_frame": 3886, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 3886, "end_frame": 3949, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 3949, "end_frame": 4025, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 662034, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, 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1601, "end_frame": 1755, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1755, "end_frame": 2029, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 2029, "end_frame": 2472, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2472, "end_frame": 2660, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2660, "end_frame": 2833, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2833, "end_frame": 3126, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3126, "end_frame": 3419, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 3419, "end_frame": 3498, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 3498, "end_frame": 3558, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 673103, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 592, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 592, "end_frame": 769, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 769, "end_frame": 973, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 973, "end_frame": 1146, "action_text": "Place 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"skill": "Pick" }, { "start_frame": 1831, "end_frame": 2088, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 2088, "end_frame": 2449, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2449, "end_frame": 2618, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2618, "end_frame": 2821, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2821, "end_frame": 3013, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3013, "end_frame": 3313, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 3313, "end_frame": 3385, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 3385, "end_frame": 3466, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 673175, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 587, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 587, "end_frame": 710, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 710, "end_frame": 886, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 886, "end_frame": 1099, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1099, "end_frame": 1218, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1218, "end_frame": 1399, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1399, "end_frame": 1563, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1563, "end_frame": 1715, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1715, "end_frame": 1932, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1932, "end_frame": 2617, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2617, "end_frame": 2769, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2769, "end_frame": 2974, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2974, "end_frame": 3261, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3261, "end_frame": 3560, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 3560, "end_frame": 3646, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 3646, "end_frame": 3729, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 673226, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 677, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 677, "end_frame": 813, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 813, "end_frame": 1041, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1041, "end_frame": 1181, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1181, "end_frame": 1309, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1309, "end_frame": 1537, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1537, "end_frame": 1745, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1745, "end_frame": 1914, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1914, "end_frame": 2126, "action_text": "Pass 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"task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 796, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 796, "end_frame": 917, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 917, "end_frame": 1142, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1142, "end_frame": 1311, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1311, "end_frame": 1496, "action_text": "Grasp the spoon 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"Place" }, { "start_frame": 3202, "end_frame": 3447, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 3447, "end_frame": 3535, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 3535, "end_frame": 3592, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 673293, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 640, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 640, "end_frame": 783, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 783, "end_frame": 981, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 981, "end_frame": 1117, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1117, "end_frame": 1257, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1257, "end_frame": 1426, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1426, "end_frame": 1540, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1540, "end_frame": 1676, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1676, "end_frame": 1967, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1967, "end_frame": 2294, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2294, "end_frame": 2463, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2463, "end_frame": 2636, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2636, "end_frame": 2849, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2849, "end_frame": 3202, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 3202, "end_frame": 3275, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 3275, "end_frame": 3338, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 673379, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 676, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 676, "end_frame": 879, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 879, "end_frame": 1093, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1093, "end_frame": 1240, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1240, "end_frame": 1349, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1349, "end_frame": 1503, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1503, "end_frame": 1657, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1657, "end_frame": 1792, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1792, "end_frame": 1976, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1976, "end_frame": 2367, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2367, "end_frame": 2502, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2502, "end_frame": 2701, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2701, "end_frame": 2930, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2930, "end_frame": 3272, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 3272, "end_frame": 3347, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 3347, "end_frame": 3396, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 673412, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 641, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 641, "end_frame": 775, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 775, "end_frame": 976, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 976, "end_frame": 1173, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1173, "end_frame": 1278, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1278, "end_frame": 1464, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1464, "end_frame": 1617, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1617, "end_frame": 1755, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1755, "end_frame": 1974, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1974, "end_frame": 2366, "action_text": "Place the bowl 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objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 667, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 667, "end_frame": 820, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 820, "end_frame": 1021, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1021, "end_frame": 1191, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1191, "end_frame": 1326, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1326, "end_frame": 1531, "action_text": "Pass the spoon with both 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"Pull" }, { "start_frame": 3448, "end_frame": 3565, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 3565, "end_frame": 3637, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 673704, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 550, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 550, "end_frame": 691, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 691, "end_frame": 876, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 876, "end_frame": 1060, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1060, "end_frame": 1187, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1187, "end_frame": 1335, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1335, "end_frame": 1469, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1469, "end_frame": 1643, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1643, "end_frame": 1849, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1849, "end_frame": 2211, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2211, "end_frame": 2366, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2366, "end_frame": 2529, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2529, "end_frame": 2826, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2826, "end_frame": 3075, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 3075, "end_frame": 3148, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 3148, "end_frame": 3213, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 674246, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 544, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 544, "end_frame": 636, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 636, "end_frame": 815, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 815, "end_frame": 934, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 934, "end_frame": 1029, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1029, "end_frame": 1273, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1273, "end_frame": 1425, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1425, "end_frame": 1543, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1543, "end_frame": 1761, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1761, "end_frame": 2043, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2043, "end_frame": 2177, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2177, "end_frame": 2370, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2370, "end_frame": 2596, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2596, "end_frame": 2801, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2801, "end_frame": 2870, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2870, "end_frame": 2944, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 674352, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 463, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 463, "end_frame": 594, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 594, "end_frame": 710, "action_text": "Pass the chopsticks with both 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{ "start_frame": 3188, "end_frame": 3232, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 674482, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 612, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 612, "end_frame": 776, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 776, "end_frame": 991, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 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"key_frame": [] } }, { "episode_id": 679745, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 596, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 596, "end_frame": 717, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 717, "end_frame": 906, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 906, "end_frame": 1044, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 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"Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 564, "end_frame": 696, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 696, "end_frame": 850, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 850, "end_frame": 1008, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1008, "end_frame": 1142, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1142, "end_frame": 1320, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1320, "end_frame": 1542, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1542, "end_frame": 1653, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1653, "end_frame": 1818, "action_text": "Pass the bowl with both 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with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 741, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 741, "end_frame": 876, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 876, "end_frame": 1084, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1084, "end_frame": 1245, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1245, "end_frame": 1335, "action_text": "Grasp the spoon with the right arm.", 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"start_frame": 2802, "end_frame": 3073, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 3073, "end_frame": 3140, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 3140, "end_frame": 3214, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 679838, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 626, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { 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"start_frame": 2756, "end_frame": 3041, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 3041, "end_frame": 3112, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 3112, "end_frame": 3169, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 679892, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 543, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { 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dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 548, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 548, "end_frame": 681, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 681, "end_frame": 865, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 865, "end_frame": 1008, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1008, "end_frame": 1121, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1121, "end_frame": 1287, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1287, "end_frame": 1434, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1434, "end_frame": 1485, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1485, "end_frame": 1676, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1676, "end_frame": 1921, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1921, "end_frame": 2050, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2050, "end_frame": 2234, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2234, "end_frame": 2418, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2418, "end_frame": 2640, "action_text": "Pull down the 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"skill": "Place" }, { "start_frame": 2236, "end_frame": 2372, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2372, "end_frame": 2543, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2543, "end_frame": 2728, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2728, "end_frame": 2991, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2991, "end_frame": 3038, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 3038, "end_frame": 3087, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 680053, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 652, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 652, "end_frame": 750, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 750, "end_frame": 990, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 990, "end_frame": 1112, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1112, "end_frame": 1217, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1217, "end_frame": 1444, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1444, "end_frame": 1600, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1600, "end_frame": 1691, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1691, "end_frame": 1935, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1935, "end_frame": 2183, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2183, "end_frame": 2305, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2305, "end_frame": 2531, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2531, "end_frame": 2709, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2709, "end_frame": 2901, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2901, "end_frame": 2943, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2943, "end_frame": 3006, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 680083, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 807, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 807, "end_frame": 931, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 931, "end_frame": 1126, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1126, "end_frame": 1263, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1263, "end_frame": 1360, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1360, "end_frame": 1501, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1501, "end_frame": 1642, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1642, "end_frame": 1759, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1759, "end_frame": 1936, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1936, "end_frame": 2231, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2231, "end_frame": 2432, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2432, "end_frame": 2603, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2603, "end_frame": 2781, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2781, "end_frame": 3009, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 3009, "end_frame": 3049, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 3049, "end_frame": 3116, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 680118, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 637, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 637, "end_frame": 735, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 735, "end_frame": 895, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 895, "end_frame": 1027, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1027, "end_frame": 1135, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1135, "end_frame": 1325, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1325, "end_frame": 1504, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1504, "end_frame": 1630, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1630, "end_frame": 1833, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1833, "end_frame": 2108, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2108, "end_frame": 2260, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2260, "end_frame": 2402, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2402, "end_frame": 2606, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2606, "end_frame": 2778, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2778, "end_frame": 2843, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2843, "end_frame": 2907, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 680152, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 655, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 655, "end_frame": 780, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 780, "end_frame": 956, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 956, "end_frame": 1081, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1081, "end_frame": 1230, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1230, "end_frame": 1368, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1368, "end_frame": 1595, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1595, "end_frame": 1710, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1710, "end_frame": 1895, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1895, "end_frame": 2125, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2125, "end_frame": 2287, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2287, "end_frame": 2443, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2443, "end_frame": 2669, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2669, "end_frame": 2929, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2929, "end_frame": 2976, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2976, "end_frame": 3071, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 680189, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 799, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 799, "end_frame": 909, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 909, "end_frame": 1067, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1067, "end_frame": 1197, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1197, "end_frame": 1294, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1294, "end_frame": 1444, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1444, "end_frame": 1645, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1645, "end_frame": 1755, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1755, "end_frame": 1899, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1899, "end_frame": 2160, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2160, "end_frame": 2297, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2297, "end_frame": 2437, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2437, "end_frame": 2615, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2615, "end_frame": 2905, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2905, "end_frame": 2956, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2956, "end_frame": 3043, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 680218, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 590, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 590, "end_frame": 687, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 687, "end_frame": 895, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 895, "end_frame": 993, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 993, "end_frame": 1113, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1113, "end_frame": 1304, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1304, "end_frame": 1465, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1465, "end_frame": 1549, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1549, "end_frame": 1727, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1727, "end_frame": 1965, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1965, "end_frame": 2129, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2129, "end_frame": 2314, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2314, "end_frame": 2501, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2501, "end_frame": 2686, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2686, "end_frame": 2753, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2753, "end_frame": 2793, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 680329, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 13, "end_frame": 526, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 526, "end_frame": 680, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 680, "end_frame": 839, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 839, "end_frame": 980, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 980, "end_frame": 1091, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1091, "end_frame": 1232, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1232, "end_frame": 1348, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1348, "end_frame": 1468, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1468, "end_frame": 1626, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1626, "end_frame": 1861, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1861, "end_frame": 2020, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2020, "end_frame": 2191, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2191, "end_frame": 2379, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2379, "end_frame": 2554, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2554, "end_frame": 2619, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2619, "end_frame": 2696, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 680396, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 518, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 518, "end_frame": 647, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 647, "end_frame": 815, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 815, "end_frame": 938, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 938, "end_frame": 1052, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1052, "end_frame": 1200, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1200, "end_frame": 1318, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1318, "end_frame": 1407, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1407, "end_frame": 1585, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1585, "end_frame": 1847, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1847, "end_frame": 1955, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1955, "end_frame": 2123, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2123, "end_frame": 2316, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2316, "end_frame": 2558, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2558, "end_frame": 2627, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2627, "end_frame": 2849, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 680433, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 606, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 606, "end_frame": 724, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 724, "end_frame": 895, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 895, "end_frame": 1008, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1008, "end_frame": 1115, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1115, "end_frame": 1301, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1301, "end_frame": 1462, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1462, "end_frame": 1594, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1594, "end_frame": 1741, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1741, "end_frame": 2064, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2064, "end_frame": 2211, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2211, "end_frame": 2372, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2372, "end_frame": 2538, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2538, "end_frame": 2793, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2793, "end_frame": 2846, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2846, "end_frame": 3057, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 683706, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 449, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 449, "end_frame": 573, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 573, "end_frame": 761, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 761, "end_frame": 901, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 901, "end_frame": 995, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 995, "end_frame": 1186, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1186, "end_frame": 1286, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1286, "end_frame": 1374, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1374, "end_frame": 1595, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1595, "end_frame": 1859, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1859, "end_frame": 1959, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1959, "end_frame": 2174, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2174, "end_frame": 2305, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2305, "end_frame": 2514, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2514, "end_frame": 2568, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2568, "end_frame": 2629, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 683713, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 496, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 496, "end_frame": 608, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 608, "end_frame": 847, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 847, "end_frame": 1027, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1027, "end_frame": 1152, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1152, "end_frame": 1342, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1342, "end_frame": 1465, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1465, "end_frame": 1548, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1548, "end_frame": 1738, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1738, "end_frame": 2051, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2051, "end_frame": 2157, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2157, "end_frame": 2385, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2385, "end_frame": 2565, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2565, "end_frame": 2755, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2755, "end_frame": 2829, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2829, "end_frame": 2897, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 683721, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 450, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 450, "end_frame": 537, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 537, "end_frame": 733, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 733, "end_frame": 826, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 826, "end_frame": 918, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 918, "end_frame": 1118, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1118, "end_frame": 1198, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1198, "end_frame": 1285, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1285, "end_frame": 1476, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1476, "end_frame": 1658, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1658, "end_frame": 1783, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1783, "end_frame": 1956, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1956, "end_frame": 2129, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2129, "end_frame": 2337, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2337, "end_frame": 2406, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2406, "end_frame": 2474, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 683734, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 476, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 476, "end_frame": 563, "action_text": "Grasp the chopsticks 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"Pull" }, { "start_frame": 3037, "end_frame": 3130, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 3130, "end_frame": 3220, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 683794, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 592, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 592, "end_frame": 718, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 718, "end_frame": 954, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 954, "end_frame": 1074, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1074, "end_frame": 1147, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1147, "end_frame": 1333, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1333, "end_frame": 1462, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1462, "end_frame": 1529, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1529, "end_frame": 1722, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1722, "end_frame": 2011, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 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"action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1659, "end_frame": 1753, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1753, "end_frame": 1975, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1975, "end_frame": 2273, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2273, "end_frame": 2392, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2392, "end_frame": 2643, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2643, "end_frame": 2799, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2799, "end_frame": 3133, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 3133, "end_frame": 3220, "action_text": "Press 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"Place" }, { "start_frame": 1405, "end_frame": 1481, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1481, "end_frame": 1688, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1688, "end_frame": 2008, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2008, "end_frame": 2130, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2130, "end_frame": 2328, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2328, "end_frame": 2529, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2529, "end_frame": 2763, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2763, "end_frame": 2842, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2842, "end_frame": 2925, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 683867, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 542, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 542, "end_frame": 654, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 654, "end_frame": 866, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 866, "end_frame": 972, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 972, "end_frame": 1074, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1074, "end_frame": 1273, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1273, "end_frame": 1382, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1382, "end_frame": 1485, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1485, "end_frame": 1693, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1693, "end_frame": 1950, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1950, "end_frame": 2059, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2059, "end_frame": 2277, "action_text": 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the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 683891, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 538, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 538, "end_frame": 664, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 664, "end_frame": 867, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 867, "end_frame": 1009, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", 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"start_frame": 0, "end_frame": 508, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 508, "end_frame": 607, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 607, "end_frame": 797, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 797, "end_frame": 880, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 880, "end_frame": 965, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 965, "end_frame": 1135, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1135, "end_frame": 1254, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1254, "end_frame": 1334, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1334, "end_frame": 1507, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1507, "end_frame": 1734, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1734, "end_frame": 1825, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1825, "end_frame": 1984, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1984, "end_frame": 2148, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2148, "end_frame": 2358, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2358, "end_frame": 2440, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2440, "end_frame": 2500, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 683919, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 463, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 463, "end_frame": 561, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 561, "end_frame": 746, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 746, "end_frame": 841, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 841, "end_frame": 932, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 932, "end_frame": 1077, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1077, "end_frame": 1178, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1178, "end_frame": 1260, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1260, "end_frame": 1499, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1499, "end_frame": 1909, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1909, "end_frame": 2025, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2025, "end_frame": 2239, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2239, "end_frame": 2419, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2419, "end_frame": 2633, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2633, "end_frame": 2699, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2699, "end_frame": 2788, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 683955, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 536, "action_text": "Lift the dishwasher lid with both arms.", 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"start_frame": 1585, "end_frame": 1875, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1875, "end_frame": 1958, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1958, "end_frame": 2175, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2175, "end_frame": 2382, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2382, "end_frame": 2624, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2624, "end_frame": 2713, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2713, "end_frame": 2796, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 683973, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 567, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 567, "end_frame": 680, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 680, "end_frame": 802, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 802, "end_frame": 875, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 875, "end_frame": 1054, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1054, "end_frame": 1237, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1237, "end_frame": 1363, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1363, "end_frame": 1438, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1438, "end_frame": 1621, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1621, "end_frame": 1879, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1879, "end_frame": 2008, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2008, "end_frame": 2216, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2216, "end_frame": 2430, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2430, "end_frame": 2657, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2657, "end_frame": 2732, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2732, "end_frame": 2801, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 683990, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 478, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 478, "end_frame": 596, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 596, "end_frame": 775, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 775, "end_frame": 886, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 886, "end_frame": 966, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 966, "end_frame": 1130, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1130, "end_frame": 1250, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1250, "end_frame": 1346, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1346, "end_frame": 1590, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1590, "end_frame": 1892, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1892, "end_frame": 2010, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2010, "end_frame": 2189, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2189, "end_frame": 2395, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2395, "end_frame": 2599, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2599, "end_frame": 2679, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2679, "end_frame": 2744, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 684023, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 560, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 560, "end_frame": 662, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 662, "end_frame": 833, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 833, "end_frame": 945, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 945, "end_frame": 1031, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1031, "end_frame": 1225, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1225, "end_frame": 1416, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1416, "end_frame": 1492, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1492, "end_frame": 1676, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1676, "end_frame": 1928, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1928, "end_frame": 2065, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2065, "end_frame": 2249, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2249, "end_frame": 2469, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2469, "end_frame": 2675, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2675, "end_frame": 2755, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2755, "end_frame": 2819, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 684056, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 457, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 457, "end_frame": 578, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 578, "end_frame": 746, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 746, "end_frame": 850, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 850, "end_frame": 926, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 926, "end_frame": 1094, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1094, "end_frame": 1215, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1215, "end_frame": 1295, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1295, "end_frame": 1469, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1469, "end_frame": 1740, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1740, "end_frame": 1867, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1867, "end_frame": 2071, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2071, "end_frame": 2280, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2280, "end_frame": 2469, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2469, "end_frame": 2546, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2546, "end_frame": 2616, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 684099, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 461, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 461, "end_frame": 568, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 568, "end_frame": 790, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 790, "end_frame": 900, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 900, "end_frame": 1010, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1010, "end_frame": 1201, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1201, "end_frame": 1322, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1322, "end_frame": 1412, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1412, "end_frame": 1584, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1584, "end_frame": 1825, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1825, "end_frame": 1952, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1952, "end_frame": 2152, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2152, "end_frame": 2333, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2333, "end_frame": 2520, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2520, "end_frame": 2591, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2591, "end_frame": 2651, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 684117, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 437, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 437, "end_frame": 548, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 548, "end_frame": 749, "action_text": "Pass the 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the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 496, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 496, "end_frame": 612, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 612, "end_frame": 761, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 761, "end_frame": 898, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 898, "end_frame": 1039, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1039, "end_frame": 1189, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1189, "end_frame": 1334, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1334, "end_frame": 1430, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1430, "end_frame": 1575, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1575, "end_frame": 1837, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1837, "end_frame": 1974, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1974, "end_frame": 2119, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2119, "end_frame": 2313, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2313, "end_frame": 2490, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2490, "end_frame": 2554, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2554, "end_frame": 2631, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 684254, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 434, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 434, "end_frame": 530, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 530, "end_frame": 717, "action_text": "Pass the chopsticks with both hands.", "skill": 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"start_frame": 3908, "end_frame": 4138, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 4138, "end_frame": 4566, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 4566, "end_frame": 4696, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 4696, "end_frame": 4800, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 685249, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { 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"start_frame": 2427, "end_frame": 2772, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 2772, "end_frame": 3253, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3253, "end_frame": 3431, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 3431, "end_frame": 3745, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 3745, "end_frame": 4012, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 4012, "end_frame": 4404, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 4404, "end_frame": 4509, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 4509, "end_frame": 4624, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 685320, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 695, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 695, "end_frame": 854, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 854, "end_frame": 1050, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1050, "end_frame": 1209, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 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"Pick" }, { "start_frame": 1203, "end_frame": 1378, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1378, "end_frame": 1482, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1482, "end_frame": 1582, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1582, "end_frame": 1853, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1853, "end_frame": 2290, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2290, "end_frame": 2419, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2419, "end_frame": 2619, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2619, "end_frame": 2748, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2748, "end_frame": 2935, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2935, "end_frame": 2998, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2998, "end_frame": 3068, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 685651, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 569, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 569, 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{ "start_frame": 2001, "end_frame": 2106, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2106, "end_frame": 2285, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2285, "end_frame": 2438, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2438, "end_frame": 2621, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2621, "end_frame": 2684, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2684, "end_frame": 2745, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [ { "start": 0, "end": 655, "description": "" } ] } }, { "episode_id": 685833, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be 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"start_frame": 2613, "end_frame": 2688, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2688, "end_frame": 2767, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [ { "start": 2322, "end": 2613, "description": "" } ] } }, { "episode_id": 685880, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 435, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 435, "end_frame": 544, "action_text": "Grasp the chopsticks with 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sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 557, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 557, "end_frame": 673, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 673, "end_frame": 845, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 845, "end_frame": 1030, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1030, "end_frame": 1123, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1123, "end_frame": 1305, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1305, "end_frame": 1535, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1535, "end_frame": 1599, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1599, "end_frame": 1849, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1849, "end_frame": 2137, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2137, "end_frame": 2244, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2244, "end_frame": 2412, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2412, "end_frame": 2538, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2538, "end_frame": 2742, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2742, "end_frame": 2820, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2820, "end_frame": 2888, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 685939, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 395, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 395, "end_frame": 498, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 498, "end_frame": 644, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 644, "end_frame": 754, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 754, "end_frame": 854, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 854, "end_frame": 1015, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1015, "end_frame": 1188, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1188, "end_frame": 1295, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1295, "end_frame": 1483, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1483, "end_frame": 1769, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1769, "end_frame": 1900, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1900, "end_frame": 2076, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2076, "end_frame": 2243, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2243, "end_frame": 2471, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2471, "end_frame": 2541, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2541, "end_frame": 2620, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 685962, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 45, "end_frame": 493, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 493, "end_frame": 612, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 612, "end_frame": 761, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 761, "end_frame": 861, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 861, "end_frame": 974, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 974, "end_frame": 1108, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1108, "end_frame": 1244, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1244, "end_frame": 1348, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1348, "end_frame": 1541, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1541, "end_frame": 1823, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1823, "end_frame": 1966, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1966, "end_frame": 2156, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2156, "end_frame": 2361, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2361, "end_frame": 2536, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2536, "end_frame": 2593, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2593, "end_frame": 2655, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 685983, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 527, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 527, "end_frame": 662, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 662, "end_frame": 827, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 827, "end_frame": 944, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 944, "end_frame": 1020, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1020, "end_frame": 1186, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1186, "end_frame": 1345, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1345, "end_frame": 1455, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1455, "end_frame": 1614, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1614, "end_frame": 2000, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2000, "end_frame": 2123, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2123, "end_frame": 2285, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2285, "end_frame": 2448, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2448, "end_frame": 2638, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2638, "end_frame": 2690, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2690, "end_frame": 2739, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 686248, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 521, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 521, "end_frame": 614, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 614, "end_frame": 815, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 815, "end_frame": 925, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 925, "end_frame": 1015, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1015, "end_frame": 1190, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1190, "end_frame": 1319, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1319, "end_frame": 1403, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1403, "end_frame": 1581, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1581, "end_frame": 1982, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1982, "end_frame": 2108, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2108, "end_frame": 2302, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2302, "end_frame": 2435, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2435, "end_frame": 2639, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2639, "end_frame": 2713, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2713, "end_frame": 2803, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 686272, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 420, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 420, "end_frame": 531, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 531, "end_frame": 694, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 694, "end_frame": 818, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 818, "end_frame": 919, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 919, "end_frame": 1085, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1085, "end_frame": 1242, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1242, "end_frame": 1333, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1333, "end_frame": 1574, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1574, "end_frame": 1880, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1880, "end_frame": 2014, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2014, "end_frame": 2187, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2187, "end_frame": 2359, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2359, "end_frame": 2542, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2542, "end_frame": 2610, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2610, "end_frame": 2672, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 686288, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 454, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 454, "end_frame": 580, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 580, "end_frame": 784, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 784, "end_frame": 866, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 866, "end_frame": 964, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 964, "end_frame": 1139, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1139, "end_frame": 1250, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1250, "end_frame": 1340, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1340, "end_frame": 1541, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1541, "end_frame": 1824, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1824, "end_frame": 1952, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1952, "end_frame": 2141, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2141, "end_frame": 2275, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2275, "end_frame": 2450, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2450, "end_frame": 2514, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2514, "end_frame": 2569, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 686316, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 514, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 514, "end_frame": 619, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 619, "end_frame": 807, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 807, "end_frame": 906, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 906, "end_frame": 1005, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1005, "end_frame": 1197, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1197, "end_frame": 1325, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1325, "end_frame": 1398, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1398, "end_frame": 1621, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1621, "end_frame": 1931, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1931, "end_frame": 2023, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2023, "end_frame": 2202, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2202, "end_frame": 2387, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2387, "end_frame": 2665, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2665, "end_frame": 2770, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2770, "end_frame": 2828, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 655714, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 93, "end_frame": 518, "action_text": "Lift the dishwasher lid 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}, { "start_frame": 1621, "end_frame": 1825, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1825, "end_frame": 1956, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1956, "end_frame": 2122, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2122, "end_frame": 2283, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2283, "end_frame": 2758, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2758, "end_frame": 2885, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2885, "end_frame": 3221, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 655826, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 42, "end_frame": 419, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 419, "end_frame": 568, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 568, "end_frame": 737, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 737, "end_frame": 860, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 860, "end_frame": 970, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 970, "end_frame": 1114, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1114, "end_frame": 1258, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1258, "end_frame": 1373, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1373, "end_frame": 1551, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1551, "end_frame": 1852, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1852, "end_frame": 1983, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1983, "end_frame": 2161, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2161, "end_frame": 2343, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2343, "end_frame": 2636, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2636, "end_frame": 2725, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2725, "end_frame": 3030, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 656016, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 36, "end_frame": 462, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 462, "end_frame": 565, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 565, "end_frame": 769, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 769, "end_frame": 927, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 927, "end_frame": 1053, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1053, "end_frame": 1206, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1206, "end_frame": 1347, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1347, "end_frame": 1475, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1475, "end_frame": 1704, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1704, "end_frame": 1950, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1950, "end_frame": 2072, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2072, "end_frame": 2225, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2225, "end_frame": 2415, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2415, "end_frame": 2742, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2742, "end_frame": 2845, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2845, "end_frame": 3028, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 656038, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 21, "end_frame": 377, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 377, "end_frame": 563, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 563, "end_frame": 705, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 705, "end_frame": 833, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 833, "end_frame": 962, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 962, "end_frame": 1113, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1113, "end_frame": 1237, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1237, "end_frame": 1352, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1352, "end_frame": 1587, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1587, "end_frame": 1857, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1857, "end_frame": 1983, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1983, "end_frame": 2156, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2156, "end_frame": 2325, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2325, "end_frame": 2634, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2634, "end_frame": 2737, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2737, "end_frame": 2914, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 656071, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 377, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 377, "end_frame": 535, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 535, "end_frame": 696, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 696, "end_frame": 834, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 834, "end_frame": 955, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 955, "end_frame": 1124, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1124, "end_frame": 1245, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1245, "end_frame": 1386, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1386, "end_frame": 1632, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1632, "end_frame": 1897, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1897, "end_frame": 2025, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2025, "end_frame": 2150, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2150, "end_frame": 2321, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2321, "end_frame": 2668, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2668, "end_frame": 2782, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2782, "end_frame": 2991, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 656096, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 40, "end_frame": 418, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 418, "end_frame": 539, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 539, "end_frame": 723, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 723, "end_frame": 860, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 860, "end_frame": 957, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 957, "end_frame": 1107, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1107, "end_frame": 1241, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1241, "end_frame": 1338, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1338, "end_frame": 1529, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1529, "end_frame": 1797, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1797, "end_frame": 1930, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1930, "end_frame": 2064, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2064, "end_frame": 2228, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2228, "end_frame": 2593, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2593, "end_frame": 2703, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2703, "end_frame": 2880, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 662356, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 379, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 379, "end_frame": 528, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 528, "end_frame": 691, "action_text": "Pass the chopsticks 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"skill": "Pick" }, { "start_frame": 1784, "end_frame": 1918, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1918, "end_frame": 2144, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2144, "end_frame": 2566, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2566, "end_frame": 2714, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2714, "end_frame": 2906, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 662372, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 398, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 398, "end_frame": 541, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 541, "end_frame": 709, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 709, "end_frame": 872, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 872, "end_frame": 997, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 997, "end_frame": 1145, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1145, "end_frame": 1308, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1308, "end_frame": 1414, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1414, "end_frame": 1596, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1596, "end_frame": 1859, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1859, "end_frame": 1969, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1969, "end_frame": 2123, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2123, "end_frame": 2372, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2372, "end_frame": 2683, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2683, "end_frame": 2817, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2817, "end_frame": 3014, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 662393, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 398, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 398, "end_frame": 556, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 556, "end_frame": 705, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 705, "end_frame": 810, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 810, "end_frame": 930, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 930, "end_frame": 1050, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1050, "end_frame": 1175, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1175, "end_frame": 1318, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1318, "end_frame": 1505, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1505, "end_frame": 1740, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1740, "end_frame": 1836, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1836, "end_frame": 1975, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1975, "end_frame": 2148, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2148, "end_frame": 2551, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2551, "end_frame": 2699, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2699, "end_frame": 2905, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 662412, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 44, "end_frame": 404, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 404, "end_frame": 530, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 530, "end_frame": 686, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 686, "end_frame": 797, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 797, "end_frame": 914, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 914, "end_frame": 1026, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1026, "end_frame": 1138, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1138, "end_frame": 1269, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1269, "end_frame": 1439, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1439, "end_frame": 1716, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1716, "end_frame": 1814, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1814, "end_frame": 1969, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1969, "end_frame": 2125, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2125, "end_frame": 2538, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2538, "end_frame": 2665, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2665, "end_frame": 2845, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 662433, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 419, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 419, "end_frame": 578, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 578, "end_frame": 790, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 790, "end_frame": 900, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 900, "end_frame": 1021, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1021, "end_frame": 1146, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1146, "end_frame": 1271, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1271, "end_frame": 1439, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1439, "end_frame": 1598, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1598, "end_frame": 1906, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1906, "end_frame": 2027, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2027, "end_frame": 2142, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2142, "end_frame": 2316, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2316, "end_frame": 2701, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2701, "end_frame": 2845, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2845, "end_frame": 3023, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 662520, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 401, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 401, "end_frame": 522, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 522, "end_frame": 690, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 690, "end_frame": 802, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 802, "end_frame": 933, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 933, "end_frame": 1061, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1061, "end_frame": 1176, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1176, "end_frame": 1301, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1301, "end_frame": 1512, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1512, "end_frame": 1784, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1784, "end_frame": 1883, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1883, "end_frame": 2014, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2014, "end_frame": 2189, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2189, "end_frame": 2550, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2550, "end_frame": 2655, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2655, "end_frame": 2826, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 662873, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 436, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 436, "end_frame": 510, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 510, "end_frame": 709, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 709, "end_frame": 833, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 833, "end_frame": 916, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 916, "end_frame": 1063, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1063, "end_frame": 1222, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1222, "end_frame": 1326, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1326, "end_frame": 1529, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1529, "end_frame": 1785, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1785, "end_frame": 1892, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1892, "end_frame": 2052, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2052, "end_frame": 2202, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2202, "end_frame": 2615, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2615, "end_frame": 2748, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2748, "end_frame": 2918, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 663125, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 353, "action_text": "Lift the dishwasher lid with both arms.", 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1489, "end_frame": 1779, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1779, "end_frame": 1886, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1886, "end_frame": 2049, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2049, "end_frame": 2189, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2189, "end_frame": 2582, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2582, "end_frame": 2705, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2705, "end_frame": 2889, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 663154, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 351, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 351, "end_frame": 462, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 462, "end_frame": 646, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 646, "end_frame": 768, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 768, "end_frame": 857, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 857, "end_frame": 1012, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1012, "end_frame": 1145, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1145, "end_frame": 1252, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1252, "end_frame": 1448, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1448, "end_frame": 1684, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1684, "end_frame": 1776, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1776, "end_frame": 1931, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1931, "end_frame": 2105, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2105, "end_frame": 2437, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2437, "end_frame": 2570, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2570, "end_frame": 2799, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 663418, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 454, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 454, "end_frame": 598, "action_text": "Grasp the chopsticks 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"skill": "Place" }, { "start_frame": 1870, "end_frame": 1980, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1980, "end_frame": 2146, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2146, "end_frame": 2332, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2332, "end_frame": 2668, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2668, "end_frame": 2771, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2771, "end_frame": 2953, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 663471, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 410, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 410, "end_frame": 553, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 553, "end_frame": 726, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 726, "end_frame": 836, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 836, "end_frame": 946, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 946, "end_frame": 1089, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1089, "end_frame": 1223, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1223, "end_frame": 1343, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1343, "end_frame": 1529, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1529, "end_frame": 1756, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1756, "end_frame": 1866, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1866, "end_frame": 2002, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2002, "end_frame": 2136, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2136, "end_frame": 2455, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2455, "end_frame": 2595, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2595, "end_frame": 2785, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 663594, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 398, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 398, "end_frame": 528, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 528, "end_frame": 690, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 690, "end_frame": 883, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 883, "end_frame": 1016, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1016, "end_frame": 1182, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1182, "end_frame": 1294, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1294, "end_frame": 1414, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1414, "end_frame": 1603, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1603, "end_frame": 1898, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1898, "end_frame": 2011, "action_text": 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"Press" }, { "start_frame": 2897, "end_frame": 3072, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [ { "start": 2270, "end": 2807, "description": "" } ] } }, { "episode_id": 663778, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 393, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 393, "end_frame": 516, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 516, "end_frame": 690, "action_text": "Pass the chopsticks 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environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 40, "end_frame": 461, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 461, "end_frame": 560, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 560, "end_frame": 753, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 753, "end_frame": 879, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 879, "end_frame": 972, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 972, "end_frame": 1131, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1131, "end_frame": 1267, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1267, "end_frame": 1389, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1389, "end_frame": 1592, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1592, "end_frame": 1830, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1830, "end_frame": 1930, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1930, "end_frame": 2089, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2089, "end_frame": 2252, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2252, "end_frame": 2613, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2613, "end_frame": 2762, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2762, "end_frame": 2968, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 663829, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 372, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 372, "end_frame": 477, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 477, "end_frame": 663, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 663, "end_frame": 788, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 788, "end_frame": 899, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 899, "end_frame": 1052, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1052, "end_frame": 1177, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1177, "end_frame": 1288, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1288, "end_frame": 1464, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1464, "end_frame": 1691, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1691, "end_frame": 1785, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1785, "end_frame": 1927, "action_text": "Pass the 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changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 373, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 373, "end_frame": 464, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 464, "end_frame": 638, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 638, "end_frame": 783, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 783, "end_frame": 897, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 897, "end_frame": 1055, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1055, "end_frame": 1196, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1196, "end_frame": 1314, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1314, "end_frame": 1525, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1525, "end_frame": 1798, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1798, "end_frame": 1895, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1895, "end_frame": 2056, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2056, "end_frame": 2238, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2238, "end_frame": 2584, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2584, "end_frame": 2688, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2688, "end_frame": 2876, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 663996, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 413, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 413, "end_frame": 517, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 517, "end_frame": 712, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 712, "end_frame": 826, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 826, "end_frame": 937, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 937, "end_frame": 1101, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1101, "end_frame": 1235, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1235, "end_frame": 1336, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1336, "end_frame": 1534, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1534, "end_frame": 1749, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1749, "end_frame": 1843, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1843, "end_frame": 2028, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2028, "end_frame": 2196, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2196, "end_frame": 2561, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2561, "end_frame": 2652, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2652, "end_frame": 2847, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 664045, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 452, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 452, "end_frame": 541, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 541, "end_frame": 709, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 709, "end_frame": 824, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 824, "end_frame": 932, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 932, "end_frame": 1104, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1104, "end_frame": 1246, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1246, "end_frame": 1369, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1369, "end_frame": 1557, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1557, "end_frame": 1814, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1814, "end_frame": 1906, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1906, "end_frame": 2093, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2093, "end_frame": 2243, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2243, "end_frame": 2554, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2554, "end_frame": 2653, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2653, "end_frame": 2833, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 664072, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 408, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 408, "end_frame": 507, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 507, "end_frame": 716, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 716, "end_frame": 849, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 849, "end_frame": 955, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 955, "end_frame": 1124, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1124, "end_frame": 1356, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1356, "end_frame": 1443, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1443, "end_frame": 1675, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1675, "end_frame": 1903, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1903, "end_frame": 2003, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2003, "end_frame": 2165, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2165, "end_frame": 2331, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2331, "end_frame": 2606, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2606, "end_frame": 2713, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2713, "end_frame": 2878, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 664095, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 389, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 389, "end_frame": 476, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 476, "end_frame": 661, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 661, "end_frame": 778, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 778, "end_frame": 866, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 866, "end_frame": 1013, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1013, "end_frame": 1131, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1131, "end_frame": 1238, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1238, "end_frame": 1436, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1436, "end_frame": 1667, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1667, "end_frame": 1748, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1748, "end_frame": 1906, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1906, "end_frame": 2070, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2070, "end_frame": 2426, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2426, "end_frame": 2540, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2540, "end_frame": 2724, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 664129, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 412, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 412, "end_frame": 488, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 488, "end_frame": 668, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 668, "end_frame": 820, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 820, "end_frame": 917, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 917, "end_frame": 1049, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1049, "end_frame": 1172, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1172, "end_frame": 1279, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1279, "end_frame": 1498, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1498, "end_frame": 1704, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1704, "end_frame": 1790, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1790, "end_frame": 1933, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1933, "end_frame": 2072, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2072, "end_frame": 2448, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2448, "end_frame": 2547, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2547, "end_frame": 2736, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 664155, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 400, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 400, "end_frame": 498, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 498, "end_frame": 661, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 661, "end_frame": 762, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 762, "end_frame": 863, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 863, "end_frame": 1016, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1016, "end_frame": 1190, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1190, "end_frame": 1288, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1288, "end_frame": 1482, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1482, "end_frame": 1702, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1702, "end_frame": 1796, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1796, "end_frame": 1938, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1938, "end_frame": 2071, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2071, "end_frame": 2352, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2352, "end_frame": 2439, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2439, "end_frame": 2631, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 664181, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 423, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 423, "end_frame": 522, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 522, "end_frame": 702, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 702, "end_frame": 835, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 835, "end_frame": 948, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 948, "end_frame": 1085, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1085, "end_frame": 1201, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1201, "end_frame": 1304, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1304, "end_frame": 1497, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1497, "end_frame": 1710, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1710, "end_frame": 1790, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1790, "end_frame": 1953, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1953, "end_frame": 2093, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2093, "end_frame": 2459, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2459, "end_frame": 2552, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2552, "end_frame": 2731, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 664409, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 390, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 390, "end_frame": 483, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 483, "end_frame": 668, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 668, "end_frame": 791, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 791, "end_frame": 893, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 893, "end_frame": 1045, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1045, "end_frame": 1198, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1198, "end_frame": 1277, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1277, "end_frame": 1475, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1475, "end_frame": 1697, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1697, "end_frame": 1770, "action_text": "Lift 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of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 372, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 372, "end_frame": 447, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 447, "end_frame": 620, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 620, "end_frame": 720, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 720, "end_frame": 833, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 833, "end_frame": 971, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 971, "end_frame": 1074, "action_text": "Place the spoon in the dishwasher with the left 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"start_frame": 2507, "end_frame": 2719, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 694277, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 385, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 385, "end_frame": 494, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 494, "end_frame": 637, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 637, "end_frame": 780, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 780, "end_frame": 902, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 902, "end_frame": 1015, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1015, "end_frame": 1178, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1178, "end_frame": 1324, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1324, "end_frame": 1443, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1443, "end_frame": 1662, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1662, "end_frame": 1814, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1814, "end_frame": 1931, 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inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 404, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 404, "end_frame": 517, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 517, "end_frame": 650, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 650, "end_frame": 785, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 785, "end_frame": 901, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 901, "end_frame": 1017, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1017, "end_frame": 1180, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1180, "end_frame": 1329, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1329, "end_frame": 1432, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1432, "end_frame": 1670, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1670, "end_frame": 1833, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1833, "end_frame": 1949, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1949, "end_frame": 2201, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2201, "end_frame": 2602, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2602, "end_frame": 2724, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2724, "end_frame": 2900, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 694343, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 419, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 419, "end_frame": 528, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 528, "end_frame": 667, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 667, "end_frame": 834, "action_text": "Place the chopsticks held in the left arm into the 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2084, "end_frame": 2254, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2254, "end_frame": 2686, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2686, "end_frame": 2802, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2802, "end_frame": 2975, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 694375, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 498, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 498, "end_frame": 617, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 617, "end_frame": 750, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 750, "end_frame": 890, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 890, "end_frame": 1012, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1012, "end_frame": 1125, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1125, "end_frame": 1261, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1261, "end_frame": 1381, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1381, "end_frame": 1487, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1487, "end_frame": 1723, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1723, "end_frame": 1869, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1869, "end_frame": 1988, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1988, "end_frame": 2174, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2174, "end_frame": 2529, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2529, "end_frame": 2652, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2652, "end_frame": 2861, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 694605, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 408, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 408, "end_frame": 544, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 544, "end_frame": 674, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 674, "end_frame": 803, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 803, "end_frame": 932, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 932, "end_frame": 1062, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1062, "end_frame": 1198, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1198, "end_frame": 1327, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1327, "end_frame": 1443, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1443, "end_frame": 1666, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1666, "end_frame": 1812, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1812, "end_frame": 1948, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1948, "end_frame": 2137, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2137, "end_frame": 2562, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2562, "end_frame": 2678, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2678, "end_frame": 2890, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 698289, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 390, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 390, "end_frame": 538, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 538, "end_frame": 711, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 711, "end_frame": 859, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 859, "end_frame": 987, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 987, "end_frame": 1116, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1116, "end_frame": 1269, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1269, "end_frame": 1382, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1382, "end_frame": 1540, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1540, "end_frame": 1772, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1772, "end_frame": 1896, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1896, "end_frame": 2024, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2024, "end_frame": 2187, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2187, "end_frame": 2725, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2725, "end_frame": 2858, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2858, "end_frame": 3066, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 698753, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 525, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 525, "end_frame": 685, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 685, "end_frame": 798, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 798, "end_frame": 944, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 944, "end_frame": 1089, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1089, "end_frame": 1188, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1188, "end_frame": 1395, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1395, "end_frame": 1530, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1530, "end_frame": 1632, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1632, "end_frame": 1869, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1869, "end_frame": 2033, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2033, "end_frame": 2135, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2135, "end_frame": 2299, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2299, "end_frame": 2711, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2711, "end_frame": 2849, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2849, "end_frame": 3002, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 698827, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 561, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 561, "end_frame": 765, "action_text": "Grasp the chopsticks 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"start_frame": 1311, "end_frame": 1506, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1506, "end_frame": 1654, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1654, "end_frame": 1749, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1749, "end_frame": 2018, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2018, "end_frame": 2151, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2151, "end_frame": 2258, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2258, "end_frame": 2412, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2412, "end_frame": 2976, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2976, 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"skill": "Place" }, { "start_frame": 1334, "end_frame": 1487, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1487, "end_frame": 1600, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1600, "end_frame": 1816, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1816, "end_frame": 1958, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1958, "end_frame": 2074, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2074, "end_frame": 2224, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2224, "end_frame": 2755, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2755, "end_frame": 2881, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2881, "end_frame": 3027, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 698970, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 418, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 418, "end_frame": 637, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 637, "end_frame": 756, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 756, 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1357, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1357, "end_frame": 1555, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1555, "end_frame": 1762, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1762, "end_frame": 1870, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1870, "end_frame": 2015, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2015, "end_frame": 2141, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2141, "end_frame": 2519, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2519, "end_frame": 2618, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2618, "end_frame": 2787, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 702596, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 409, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 409, "end_frame": 542, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 542, "end_frame": 715, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 715, "end_frame": 873, "action_text": "Place the chopsticks held in the 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{ "start_frame": 2029, "end_frame": 2169, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2169, "end_frame": 2592, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2592, "end_frame": 2689, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2689, "end_frame": 2833, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 702620, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 50, "end_frame": 474, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 474, "end_frame": 659, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 659, "end_frame": 843, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 843, "end_frame": 975, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 975, "end_frame": 1066, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1066, "end_frame": 1212, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1212, "end_frame": 1365, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1365, "end_frame": 1491, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1491, "end_frame": 1693, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1693, "end_frame": 1865, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1865, "end_frame": 1974, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1974, "end_frame": 2114, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2114, "end_frame": 2281, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2281, "end_frame": 2665, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2665, "end_frame": 2764, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2764, "end_frame": 2937, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 702641, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 397, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 397, "end_frame": 571, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 571, "end_frame": 746, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 746, "end_frame": 870, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 870, "end_frame": 980, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 980, "end_frame": 1128, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1128, "end_frame": 1260, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1260, "end_frame": 1359, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1359, "end_frame": 1536, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1536, "end_frame": 1733, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1733, "end_frame": 1839, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1839, "end_frame": 1975, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1975, "end_frame": 2134, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2134, "end_frame": 2513, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2513, "end_frame": 2623, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2623, "end_frame": 2812, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 702717, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 427, "action_text": "Lift 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"skill": "HandOver" }, { "start_frame": 1553, "end_frame": 1830, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1830, "end_frame": 1967, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1967, "end_frame": 2095, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2095, "end_frame": 2329, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2329, "end_frame": 2671, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2671, "end_frame": 2773, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2773, "end_frame": 2944, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 702758, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 413, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 413, "end_frame": 546, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 546, "end_frame": 707, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 707, "end_frame": 822, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 822, "end_frame": 944, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 944, "end_frame": 1073, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1073, "end_frame": 1192, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1192, "end_frame": 1303, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1303, "end_frame": 1515, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1515, "end_frame": 1691, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1691, "end_frame": 1795, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1795, "end_frame": 1931, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1931, "end_frame": 2111, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2111, "end_frame": 2491, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2491, "end_frame": 2588, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2588, "end_frame": 2739, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 702789, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 408, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 408, "end_frame": 556, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 556, "end_frame": 684, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 684, "end_frame": 815, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 815, "end_frame": 934, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 934, "end_frame": 1096, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1096, "end_frame": 1240, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1240, "end_frame": 1359, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1359, "end_frame": 1499, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1499, "end_frame": 1737, "action_text": 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ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 384, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 384, "end_frame": 505, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 505, "end_frame": 670, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 670, "end_frame": 782, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 782, "end_frame": 877, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 877, "end_frame": 1006, "action_text": "Pass the spoon with 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"skill": "Pull" }, { "start_frame": 2475, "end_frame": 2549, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2549, "end_frame": 2717, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 702868, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 22, "end_frame": 429, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 429, "end_frame": 583, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 583, "end_frame": 766, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 766, "end_frame": 920, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 920, "end_frame": 1019, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1019, "end_frame": 1176, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1176, "end_frame": 1383, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1383, "end_frame": 1500, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1500, "end_frame": 1673, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1673, "end_frame": 1895, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1895, "end_frame": 2019, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2019, "end_frame": 2158, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2158, "end_frame": 2297, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2297, "end_frame": 2750, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2750, "end_frame": 2846, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2846, "end_frame": 3019, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 702914, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 23, "end_frame": 364, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 364, "end_frame": 516, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 516, "end_frame": 693, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 693, "end_frame": 830, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 830, "end_frame": 923, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 923, "end_frame": 1060, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1060, "end_frame": 1197, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1197, "end_frame": 1302, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1302, "end_frame": 1492, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1492, "end_frame": 1707, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1707, "end_frame": 1827, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1827, "end_frame": 1978, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1978, "end_frame": 2124, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2124, "end_frame": 2552, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2552, "end_frame": 2622, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2622, "end_frame": 2808, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 702935, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 396, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 396, "end_frame": 529, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 529, "end_frame": 685, "action_text": "Pass the chopsticks 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"skill": "Pick" }, { "start_frame": 1872, "end_frame": 1995, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1995, "end_frame": 2135, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2135, "end_frame": 2590, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2590, "end_frame": 2670, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2670, "end_frame": 2839, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 703005, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and 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"start_frame": 1296, "end_frame": 1426, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1426, "end_frame": 1572, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1572, "end_frame": 1805, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1805, "end_frame": 1958, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1958, "end_frame": 2075, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2075, "end_frame": 2222, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2222, "end_frame": 2678, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2678, "end_frame": 2791, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2791, "end_frame": 2968, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 703092, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 482, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 482, "end_frame": 638, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 638, "end_frame": 781, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 781, "end_frame": 914, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 914, "end_frame": 1037, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1037, "end_frame": 1177, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1177, "end_frame": 1340, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1340, "end_frame": 1536, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1536, "end_frame": 1659, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1659, "end_frame": 1938, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1938, "end_frame": 2114, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2114, "end_frame": 2237, "action_text": "Pass 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changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 457, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 457, "end_frame": 630, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 630, "end_frame": 787, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 787, "end_frame": 933, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 933, "end_frame": 1041, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1041, "end_frame": 1184, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1184, "end_frame": 1350, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1350, "end_frame": 1502, "action_text": "Lift the bowl with the 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dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 703204, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 35, "end_frame": 384, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 384, "end_frame": 520, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 520, "end_frame": 680, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 680, "end_frame": 820, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 820, "end_frame": 925, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 925, "end_frame": 1052, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1052, "end_frame": 1224, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1224, "end_frame": 1332, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1332, "end_frame": 1515, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1515, "end_frame": 1794, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1794, "end_frame": 1898, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1898, "end_frame": 2026, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2026, "end_frame": 2163, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2163, "end_frame": 2550, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2550, "end_frame": 2634, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2634, "end_frame": 2788, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 703265, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 413, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 413, "end_frame": 591, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 591, "end_frame": 804, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 804, "end_frame": 1017, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1017, "end_frame": 1126, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1126, "end_frame": 1261, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1261, "end_frame": 1404, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1404, "end_frame": 1522, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1522, "end_frame": 1669, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1669, "end_frame": 1908, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1908, "end_frame": 2030, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2030, "end_frame": 2174, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2174, "end_frame": 2317, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2317, "end_frame": 2778, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2778, "end_frame": 2856, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2856, "end_frame": 2995, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 703299, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 26, "end_frame": 353, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 353, "end_frame": 547, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 547, "end_frame": 733, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 733, "end_frame": 857, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 857, "end_frame": 962, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 962, "end_frame": 1121, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1121, "end_frame": 1257, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1257, "end_frame": 1370, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1370, "end_frame": 1538, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1538, "end_frame": 1819, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1819, "end_frame": 1935, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1935, "end_frame": 2085, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2085, "end_frame": 2239, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2239, "end_frame": 2586, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2586, "end_frame": 2673, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2673, "end_frame": 2818, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 703351, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 382, "action_text": "Lift the dishwasher lid with 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"start_frame": 1685, "end_frame": 1892, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1892, "end_frame": 2000, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2000, "end_frame": 2137, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2137, "end_frame": 2265, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2265, "end_frame": 2685, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2685, "end_frame": 2813, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2813, "end_frame": 3008, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 703434, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 9, "end_frame": 378, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 378, "end_frame": 626, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 626, "end_frame": 773, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 773, "end_frame": 906, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 906, "end_frame": 1009, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1009, "end_frame": 1168, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1168, "end_frame": 1322, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1322, "end_frame": 1434, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1434, "end_frame": 1611, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1611, "end_frame": 1847, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1847, "end_frame": 1962, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1962, "end_frame": 2107, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2107, "end_frame": 2234, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2234, "end_frame": 2650, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2650, "end_frame": 2750, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2750, "end_frame": 2951, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 703457, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 340, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 340, "end_frame": 580, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 580, "end_frame": 779, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 779, "end_frame": 911, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 911, "end_frame": 1056, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1056, "end_frame": 1182, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1182, "end_frame": 1377, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1377, "end_frame": 1492, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1492, "end_frame": 1684, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1684, "end_frame": 1889, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1889, "end_frame": 2000, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2000, "end_frame": 2126, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2126, "end_frame": 2271, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2271, "end_frame": 2785, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2785, "end_frame": 2872, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2872, "end_frame": 3047, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [ { "start": 2271, "end": 2785, "description": "" } ] } }, { "episode_id": 703504, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 406, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 406, "end_frame": 561, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 561, "end_frame": 747, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 747, "end_frame": 893, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 893, "end_frame": 1014, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1014, "end_frame": 1148, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1148, "end_frame": 1290, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1290, "end_frame": 1398, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1398, "end_frame": 1597, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1597, "end_frame": 1830, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1830, "end_frame": 2072, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2072, "end_frame": 2192, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2192, "end_frame": 2352, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2352, "end_frame": 2758, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2758, "end_frame": 2853, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2853, "end_frame": 3034, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [ { "start": 1830, "end": 2072, "description": "" } ] } }, { "episode_id": 703528, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 342, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 342, "end_frame": 555, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 555, "end_frame": 724, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 724, "end_frame": 858, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 858, "end_frame": 1001, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1001, "end_frame": 1157, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1157, "end_frame": 1291, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1291, "end_frame": 1404, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1404, "end_frame": 1577, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1577, "end_frame": 1829, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1829, "end_frame": 1950, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1950, "end_frame": 2071, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2071, "end_frame": 2219, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2219, "end_frame": 2678, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2678, "end_frame": 2799, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2799, "end_frame": 2960, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 703553, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 405, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 405, "end_frame": 578, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 578, "end_frame": 718, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 718, "end_frame": 857, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 857, "end_frame": 1017, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1017, "end_frame": 1156, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1156, "end_frame": 1309, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1309, "end_frame": 1575, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1575, "end_frame": 1714, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1714, "end_frame": 1957, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1957, "end_frame": 2100, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2100, "end_frame": 2206, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2206, "end_frame": 2362, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2362, "end_frame": 2897, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2897, "end_frame": 3013, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 3013, "end_frame": 3186, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [ { "start": 1309, "end": 1575, "description": "" } ] } }, { "episode_id": 703574, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 369, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 369, "end_frame": 529, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 529, "end_frame": 656, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 656, "end_frame": 793, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 793, "end_frame": 926, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 926, "end_frame": 1056, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1056, "end_frame": 1213, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1213, "end_frame": 1332, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1332, "end_frame": 1479, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1479, "end_frame": 1664, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1664, "end_frame": 1817, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1817, "end_frame": 1934, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1934, "end_frame": 2060, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2060, "end_frame": 2473, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2473, "end_frame": 2576, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2576, "end_frame": 2753, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 703681, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 41, "end_frame": 431, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 431, "end_frame": 613, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 613, "end_frame": 784, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 784, "end_frame": 903, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 903, "end_frame": 993, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 993, "end_frame": 1143, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1143, "end_frame": 1288, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1288, "end_frame": 1401, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1401, "end_frame": 1609, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1609, "end_frame": 1823, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1823, "end_frame": 1936, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1936, "end_frame": 2066, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2066, "end_frame": 2217, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2217, "end_frame": 2665, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2665, "end_frame": 2778, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2778, "end_frame": 2946, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 703708, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 404, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 404, "end_frame": 633, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 633, "end_frame": 811, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 811, "end_frame": 951, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 951, "end_frame": 1070, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1070, "end_frame": 1236, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1236, "end_frame": 1372, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1372, "end_frame": 1495, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1495, "end_frame": 1674, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1674, "end_frame": 1890, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1890, "end_frame": 2026, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2026, "end_frame": 2170, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2170, "end_frame": 2332, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2332, "end_frame": 2757, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2757, "end_frame": 2850, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2850, "end_frame": 3011, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 703735, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 393, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 393, "end_frame": 526, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 526, "end_frame": 708, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 708, "end_frame": 818, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 818, "end_frame": 934, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 934, "end_frame": 1103, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1103, "end_frame": 1288, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1288, "end_frame": 1451, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1451, "end_frame": 1639, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1639, "end_frame": 1847, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1847, "end_frame": 1954, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1954, "end_frame": 2097, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2097, "end_frame": 2266, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2266, "end_frame": 2650, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2650, "end_frame": 2757, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2757, "end_frame": 2944, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 703790, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 403, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 403, "end_frame": 590, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 590, "end_frame": 772, "action_text": "Pass the chopsticks 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"skill": "Pick" }, { "start_frame": 1999, "end_frame": 2135, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2135, "end_frame": 2287, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2287, "end_frame": 2720, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2720, "end_frame": 2826, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2826, "end_frame": 2992, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 703807, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 418, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 418, "end_frame": 580, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 580, "end_frame": 742, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 742, "end_frame": 861, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 861, "end_frame": 1002, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1002, "end_frame": 1151, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1151, "end_frame": 1309, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1309, "end_frame": 1462, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1462, "end_frame": 1646, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1646, "end_frame": 1902, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1902, "end_frame": 2051, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2051, "end_frame": 2187, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2187, "end_frame": 2353, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2353, "end_frame": 2763, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2763, "end_frame": 2857, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2857, "end_frame": 3066, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 703833, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 444, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 444, "end_frame": 652, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 652, "end_frame": 795, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 795, "end_frame": 949, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 949, "end_frame": 1083, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1083, "end_frame": 1210, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1210, "end_frame": 1387, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1387, "end_frame": 1554, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1554, "end_frame": 1701, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1701, "end_frame": 1938, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1938, "end_frame": 2055, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2055, "end_frame": 2189, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2189, "end_frame": 2322, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2322, "end_frame": 2733, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2733, "end_frame": 2840, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2840, "end_frame": 3054, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 703977, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 448, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 448, "end_frame": 657, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 657, "end_frame": 896, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 896, "end_frame": 1024, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1024, "end_frame": 1135, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1135, "end_frame": 1276, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1276, "end_frame": 1430, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1430, "end_frame": 1545, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1545, "end_frame": 1733, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1733, "end_frame": 1921, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1921, "end_frame": 2053, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2053, "end_frame": 2168, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2168, "end_frame": 2322, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2322, "end_frame": 2732, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2732, "end_frame": 2826, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2826, "end_frame": 2997, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 704002, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 420, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 420, "end_frame": 642, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 642, "end_frame": 824, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 824, "end_frame": 1019, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1019, "end_frame": 1167, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1167, "end_frame": 1288, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1288, "end_frame": 1453, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1453, "end_frame": 1631, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1631, "end_frame": 1782, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1782, "end_frame": 2034, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2034, "end_frame": 2159, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2159, "end_frame": 2290, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2290, "end_frame": 2451, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2451, "end_frame": 2868, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2868, "end_frame": 2993, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2993, "end_frame": 3158, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 704049, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 479, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 479, "end_frame": 684, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 684, "end_frame": 858, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 858, "end_frame": 992, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 992, "end_frame": 1140, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1140, "end_frame": 1284, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1284, "end_frame": 1425, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1425, "end_frame": 1582, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1582, "end_frame": 1730, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1730, "end_frame": 1994, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1994, "end_frame": 2139, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2139, "end_frame": 2253, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2253, "end_frame": 2407, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2407, "end_frame": 2826, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2826, "end_frame": 2957, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2957, "end_frame": 3117, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 704068, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 435, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 435, "end_frame": 621, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 621, "end_frame": 770, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 770, "end_frame": 949, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 949, "end_frame": 1095, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1095, "end_frame": 1241, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1241, "end_frame": 1381, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1381, "end_frame": 1537, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1537, "end_frame": 1666, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1666, "end_frame": 1875, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1875, "end_frame": 2008, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2008, "end_frame": 2118, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2118, "end_frame": 2274, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2274, "end_frame": 2712, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2712, "end_frame": 2801, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2801, "end_frame": 2964, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 704174, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 419, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 419, "end_frame": 585, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 585, "end_frame": 748, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 748, "end_frame": 901, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 901, "end_frame": 1050, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1050, "end_frame": 1173, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1173, "end_frame": 1310, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1310, "end_frame": 1489, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1489, "end_frame": 1612, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1612, "end_frame": 1835, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1835, "end_frame": 1971, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1971, "end_frame": 2084, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2084, "end_frame": 2240, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2240, "end_frame": 2756, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2756, "end_frame": 2879, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2879, "end_frame": 3045, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 704199, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 399, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 399, "end_frame": 684, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 684, "end_frame": 973, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 973, "end_frame": 1107, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1107, "end_frame": 1258, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1258, "end_frame": 1392, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1392, "end_frame": 1540, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1540, "end_frame": 1694, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1694, "end_frame": 1825, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1825, "end_frame": 2063, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2063, "end_frame": 2174, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2174, "end_frame": 2288, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2288, "end_frame": 2446, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2446, "end_frame": 2932, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2932, "end_frame": 3040, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 3040, "end_frame": 3258, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 704224, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 449, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 449, "end_frame": 656, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 656, "end_frame": 831, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 831, "end_frame": 1055, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1055, "end_frame": 1212, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1212, "end_frame": 1350, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1350, "end_frame": 1521, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1521, "end_frame": 1698, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1698, "end_frame": 1852, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1852, "end_frame": 2130, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2130, "end_frame": 2267, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2267, "end_frame": 2388, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2388, "end_frame": 2539, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2539, "end_frame": 3008, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 3008, "end_frame": 3118, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 3118, "end_frame": 3306, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 704248, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 443, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 443, "end_frame": 623, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 623, "end_frame": 777, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 777, "end_frame": 933, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 933, "end_frame": 1080, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1080, "end_frame": 1213, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1213, "end_frame": 1386, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1386, "end_frame": 1533, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1533, "end_frame": 1663, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1663, "end_frame": 1943, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1943, "end_frame": 2073, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2073, "end_frame": 2173, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2173, "end_frame": 2333, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2333, "end_frame": 2759, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2759, "end_frame": 2876, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2876, "end_frame": 3053, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 704293, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 376, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 376, "end_frame": 566, "action_text": "Grasp the chopsticks with the right arm.", 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"start_frame": 1950, "end_frame": 2089, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2089, "end_frame": 2206, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2206, "end_frame": 2332, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2332, "end_frame": 2798, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2798, "end_frame": 2908, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2908, "end_frame": 3077, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [ { "start": 1171, "end": 1451, "description": "" } ] } }, { "episode_id": 704435, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 466, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 466, "end_frame": 659, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 659, "end_frame": 845, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 845, "end_frame": 1011, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1011, "end_frame": 1131, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1131, "end_frame": 1257, "action_text": "Pass the spoon with both hands.", "skill": 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"start_frame": 2724, "end_frame": 2820, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2820, "end_frame": 2970, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 704505, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 391, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 391, "end_frame": 581, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 581, "end_frame": 741, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 741, "end_frame": 888, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 888, "end_frame": 1022, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1022, "end_frame": 1145, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1145, "end_frame": 1292, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1292, "end_frame": 1449, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1449, "end_frame": 1593, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1593, "end_frame": 1800, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1800, "end_frame": 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of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 380, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 380, "end_frame": 567, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 567, "end_frame": 710, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 710, "end_frame": 837, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 837, "end_frame": 967, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 967, "end_frame": 1104, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1104, "end_frame": 1231, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1231, "end_frame": 1391, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1391, "end_frame": 1538, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1538, "end_frame": 1755, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1755, "end_frame": 1878, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1878, "end_frame": 1988, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1988, "end_frame": 2151, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2151, "end_frame": 2582, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2582, "end_frame": 2682, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2682, "end_frame": 2842, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 704647, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 381, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 381, "end_frame": 548, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 548, "end_frame": 738, "action_text": "Pass the chopsticks with both hands.", "skill": 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"start_frame": 1926, "end_frame": 2038, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2038, "end_frame": 2184, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2184, "end_frame": 2685, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2685, "end_frame": 2790, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2790, "end_frame": 2960, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 704753, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, 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"end_frame": 1424, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1424, "end_frame": 1581, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1581, "end_frame": 1788, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1788, "end_frame": 1928, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1928, "end_frame": 2041, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2041, "end_frame": 2191, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2191, "end_frame": 2595, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2595, "end_frame": 2705, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2705, "end_frame": 2905, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 704821, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 420, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 420, "end_frame": 606, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 606, "end_frame": 766, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 766, "end_frame": 905, "action_text": "Place 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"skill": "Pick" }, { "start_frame": 1490, "end_frame": 1671, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1671, "end_frame": 1907, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1907, "end_frame": 2009, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2009, "end_frame": 2155, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2155, "end_frame": 2324, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2324, "end_frame": 2694, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2694, "end_frame": 2828, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2828, "end_frame": 3035, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [ { "start": 1181, "end": 1391, "description": "" } ] } }, { "episode_id": 704883, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 397, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 397, "end_frame": 539, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 539, "end_frame": 699, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 699, "end_frame": 863, "action_text": "Place the chopsticks held in the 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{ "start_frame": 1993, "end_frame": 2182, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2182, "end_frame": 2614, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2614, "end_frame": 2704, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2704, "end_frame": 2877, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 704922, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 360, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 360, "end_frame": 519, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 519, "end_frame": 713, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 713, "end_frame": 810, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 810, "end_frame": 922, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 922, "end_frame": 1095, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1095, "end_frame": 1246, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1246, "end_frame": 1390, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1390, "end_frame": 1581, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1581, "end_frame": 1757, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1757, "end_frame": 1862, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1862, "end_frame": 2013, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2013, "end_frame": 2150, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2150, "end_frame": 2575, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2575, "end_frame": 2668, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2668, "end_frame": 2837, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 705002, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 346, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 346, "end_frame": 504, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 504, "end_frame": 661, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 661, "end_frame": 806, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 806, "end_frame": 923, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 923, "end_frame": 1068, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1068, "end_frame": 1272, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1272, "end_frame": 1380, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1380, "end_frame": 1546, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1546, "end_frame": 1743, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1743, "end_frame": 1845, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1845, "end_frame": 1988, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1988, "end_frame": 2139, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2139, "end_frame": 2564, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2564, "end_frame": 2672, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2672, "end_frame": 2809, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 705028, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 404, "action_text": "Lift the dishwasher lid with 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"start_frame": 1534, "end_frame": 1720, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1720, "end_frame": 1835, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1835, "end_frame": 1982, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1982, "end_frame": 2132, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2132, "end_frame": 2511, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2511, "end_frame": 2640, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2640, "end_frame": 2808, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 705062, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 31, "end_frame": 423, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 423, "end_frame": 610, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 610, "end_frame": 794, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 794, "end_frame": 939, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 939, "end_frame": 1045, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1045, "end_frame": 1244, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1244, "end_frame": 1377, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1377, "end_frame": 1488, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1488, "end_frame": 1675, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1675, "end_frame": 1877, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1877, "end_frame": 1972, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1972, "end_frame": 2121, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2121, "end_frame": 2266, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2266, "end_frame": 2682, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2682, "end_frame": 2816, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2816, "end_frame": 2968, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 705089, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 392, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 392, "end_frame": 520, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 520, "end_frame": 712, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 712, "end_frame": 889, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 889, "end_frame": 1009, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1009, "end_frame": 1171, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1171, "end_frame": 1344, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1344, "end_frame": 1446, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1446, "end_frame": 1619, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1619, "end_frame": 1796, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1796, "end_frame": 1906, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1906, "end_frame": 2052, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2052, "end_frame": 2207, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2207, "end_frame": 2598, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2598, "end_frame": 2711, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2711, "end_frame": 2855, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 705113, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 363, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 363, "end_frame": 514, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 514, "end_frame": 694, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 694, "end_frame": 809, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 809, "end_frame": 906, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 906, "end_frame": 1064, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1064, "end_frame": 1211, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1211, "end_frame": 1322, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1322, "end_frame": 1524, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1524, "end_frame": 1739, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1739, "end_frame": 1858, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1858, "end_frame": 2002, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2002, "end_frame": 2138, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2138, "end_frame": 2541, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2541, "end_frame": 2648, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2648, "end_frame": 2846, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 705141, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 352, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 352, "end_frame": 514, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 514, "end_frame": 693, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 693, "end_frame": 851, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 851, "end_frame": 984, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 984, "end_frame": 1146, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1146, "end_frame": 1289, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1289, "end_frame": 1397, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1397, "end_frame": 1569, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1569, "end_frame": 1781, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1781, "end_frame": 1871, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1871, "end_frame": 2004, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2004, "end_frame": 2162, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2162, "end_frame": 2661, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2661, "end_frame": 2762, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2762, "end_frame": 2923, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 705162, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 401, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 401, "end_frame": 595, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 595, "end_frame": 785, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 785, "end_frame": 907, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 907, "end_frame": 1021, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1021, "end_frame": 1172, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1172, "end_frame": 1305, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1305, "end_frame": 1434, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1434, "end_frame": 1609, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1609, "end_frame": 1799, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1799, "end_frame": 1910, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1910, "end_frame": 2039, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2039, "end_frame": 2176, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2176, "end_frame": 2631, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2631, "end_frame": 2724, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2724, "end_frame": 2896, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 705185, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 391, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 391, "end_frame": 584, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 584, "end_frame": 749, "action_text": "Pass the 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operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 424, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 424, "end_frame": 522, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 522, "end_frame": 673, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 673, "end_frame": 771, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 771, "end_frame": 888, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 888, "end_frame": 1034, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1034, "end_frame": 1132, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1132, "end_frame": 1239, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1239, "end_frame": 1415, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1415, "end_frame": 1635, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1635, "end_frame": 1756, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1756, "end_frame": 1918, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1918, "end_frame": 2069, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2069, "end_frame": 2420, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2420, "end_frame": 2532, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2532, "end_frame": 2796, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 665548, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 350, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 350, "end_frame": 488, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 488, "end_frame": 663, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 663, "end_frame": 753, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 753, "end_frame": 891, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 891, "end_frame": 1008, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1008, "end_frame": 1124, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1124, "end_frame": 1236, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1236, "end_frame": 1405, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1405, "end_frame": 1644, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1644, "end_frame": 1777, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1777, "end_frame": 1930, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1930, "end_frame": 2079, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2079, "end_frame": 2477, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2477, "end_frame": 2577, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2577, "end_frame": 2837, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 665560, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 461, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 461, "end_frame": 568, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 568, "end_frame": 724, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 724, "end_frame": 869, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 869, "end_frame": 983, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 983, "end_frame": 1103, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1103, "end_frame": 1274, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1274, "end_frame": 1412, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1412, "end_frame": 1572, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1572, "end_frame": 1813, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1813, "end_frame": 1966, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1966, "end_frame": 2108, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2108, "end_frame": 2249, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2249, "end_frame": 2569, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2569, "end_frame": 2682, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2682, "end_frame": 2856, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 680573, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 456, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 456, "end_frame": 568, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 568, "end_frame": 724, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 724, "end_frame": 866, "action_text": "Place the chopsticks held in the left arm into the 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2177, "end_frame": 2337, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2337, "end_frame": 2728, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2728, "end_frame": 2831, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2831, "end_frame": 3030, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 680593, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 429, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 429, "end_frame": 545, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 545, "end_frame": 696, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 696, "end_frame": 827, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 827, "end_frame": 934, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 934, "end_frame": 1073, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1073, "end_frame": 1217, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1217, "end_frame": 1348, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1348, "end_frame": 1527, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1527, "end_frame": 1829, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1829, "end_frame": 2004, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2004, "end_frame": 2123, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2123, "end_frame": 2274, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2274, "end_frame": 2711, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2711, "end_frame": 2823, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2823, "end_frame": 3014, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 680612, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 382, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 382, "end_frame": 493, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 493, "end_frame": 645, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 645, "end_frame": 770, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 770, "end_frame": 892, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 892, "end_frame": 1003, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1003, "end_frame": 1148, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1148, "end_frame": 1273, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1273, "end_frame": 1418, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1418, "end_frame": 1706, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1706, "end_frame": 1847, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1847, "end_frame": 1976, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1976, "end_frame": 2121, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2121, "end_frame": 2536, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2536, "end_frame": 2671, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2671, "end_frame": 2867, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 680636, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 539, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 539, "end_frame": 662, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 662, "end_frame": 818, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 818, "end_frame": 932, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 932, "end_frame": 1048, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1048, "end_frame": 1171, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1171, "end_frame": 1341, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1341, "end_frame": 1470, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1470, "end_frame": 1620, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1620, "end_frame": 1893, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1893, "end_frame": 2009, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2009, "end_frame": 2123, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2123, "end_frame": 2246, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2246, "end_frame": 2698, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2698, "end_frame": 2805, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2805, "end_frame": 3034, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 680661, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 438, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 438, "end_frame": 563, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 563, "end_frame": 736, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 736, "end_frame": 865, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 865, "end_frame": 974, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 974, "end_frame": 1100, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1100, "end_frame": 1225, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1225, "end_frame": 1361, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1361, "end_frame": 1517, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1517, "end_frame": 1822, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1822, "end_frame": 1965, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1965, "end_frame": 2111, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2111, "end_frame": 2243, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2243, "end_frame": 2691, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2691, "end_frame": 2810, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2810, "end_frame": 3004, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 680695, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 424, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 424, "end_frame": 513, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 513, "end_frame": 679, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 679, "end_frame": 802, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 802, "end_frame": 921, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 921, "end_frame": 1047, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1047, "end_frame": 1182, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1182, "end_frame": 1298, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1298, "end_frame": 1461, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1461, "end_frame": 1865, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1865, "end_frame": 1994, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1994, "end_frame": 2110, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2110, "end_frame": 2259, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2259, "end_frame": 2845, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2845, "end_frame": 2955, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2955, "end_frame": 3157, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 680713, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 587, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 587, "end_frame": 706, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 706, "end_frame": 839, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 839, "end_frame": 991, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 991, "end_frame": 1104, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1104, "end_frame": 1243, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1243, "end_frame": 1389, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1389, "end_frame": 1531, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1531, "end_frame": 1667, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1667, "end_frame": 2015, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2015, "end_frame": 2138, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2138, "end_frame": 2254, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2254, "end_frame": 2383, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2383, "end_frame": 2824, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2824, "end_frame": 2933, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2933, "end_frame": 3115, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 680731, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 448, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 448, "end_frame": 538, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 538, "end_frame": 690, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 690, "end_frame": 820, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 820, "end_frame": 946, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 946, "end_frame": 1069, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1069, "end_frame": 1205, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1205, "end_frame": 1334, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1334, "end_frame": 1500, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1500, "end_frame": 1806, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1806, "end_frame": 1975, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1975, "end_frame": 2111, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2111, "end_frame": 2247, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2247, "end_frame": 2708, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2708, "end_frame": 2831, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2831, "end_frame": 3040, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 680752, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 416, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 416, "end_frame": 493, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 493, "end_frame": 634, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 634, "end_frame": 745, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 745, "end_frame": 846, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 846, "end_frame": 977, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 977, "end_frame": 1111, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1111, "end_frame": 1238, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1238, "end_frame": 1403, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1403, "end_frame": 1755, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1755, "end_frame": 1856, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1856, "end_frame": 1977, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1977, "end_frame": 2111, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2111, "end_frame": 2500, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2500, "end_frame": 2624, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2624, "end_frame": 2843, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 680774, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 431, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 431, "end_frame": 501, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 501, "end_frame": 638, "action_text": "Pass the chopsticks 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"skill": "Pick" }, { "start_frame": 2001, "end_frame": 2121, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2121, "end_frame": 2265, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2265, "end_frame": 2662, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2662, "end_frame": 2786, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2786, "end_frame": 2976, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 680795, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 478, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 478, "end_frame": 578, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 578, "end_frame": 704, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 704, "end_frame": 890, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 890, "end_frame": 997, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 997, "end_frame": 1136, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1136, "end_frame": 1259, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1259, "end_frame": 1409, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1409, "end_frame": 1565, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1565, "end_frame": 1890, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1890, "end_frame": 2036, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2036, "end_frame": 2143, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2143, "end_frame": 2299, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2299, "end_frame": 2674, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2674, "end_frame": 2814, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2814, "end_frame": 3013, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 680818, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 398, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 398, "end_frame": 521, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 521, "end_frame": 634, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 634, "end_frame": 757, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 757, "end_frame": 876, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 876, "end_frame": 989, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 989, "end_frame": 1152, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1152, "end_frame": 1271, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1271, "end_frame": 1444, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1444, "end_frame": 1739, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1739, "end_frame": 1905, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1905, "end_frame": 2028, "action_text": "Pass the 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changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 472, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 472, "end_frame": 585, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 585, "end_frame": 754, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 754, "end_frame": 930, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 930, "end_frame": 1073, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1073, "end_frame": 1199, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1199, "end_frame": 1325, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1325, "end_frame": 1488, "action_text": "Lift the bowl with the 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dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 680865, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 456, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 456, "end_frame": 554, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 554, "end_frame": 683, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 683, "end_frame": 815, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 815, "end_frame": 950, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 950, "end_frame": 1095, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1095, "end_frame": 1224, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1224, "end_frame": 1389, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1389, "end_frame": 1524, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1524, "end_frame": 1778, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1778, "end_frame": 1947, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1947, "end_frame": 2072, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2072, "end_frame": 2197, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2197, "end_frame": 2606, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2606, "end_frame": 2735, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2735, "end_frame": 2927, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 680911, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { 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1453, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1453, "end_frame": 1726, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1726, "end_frame": 1879, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1879, "end_frame": 2012, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2012, "end_frame": 2171, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2171, "end_frame": 2547, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2547, "end_frame": 2643, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2643, "end_frame": 2830, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 680986, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 407, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 407, "end_frame": 515, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 515, "end_frame": 660, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 660, "end_frame": 761, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 761, "end_frame": 888, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 888, "end_frame": 1022, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1022, "end_frame": 1171, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1171, "end_frame": 1316, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1316, "end_frame": 1451, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1451, "end_frame": 1764, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1764, "end_frame": 1854, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1854, "end_frame": 1991, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1991, "end_frame": 2122, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2122, "end_frame": 2566, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2566, "end_frame": 2663, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2663, "end_frame": 2849, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 681013, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 375, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 375, "end_frame": 485, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 485, "end_frame": 604, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 604, "end_frame": 727, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 727, "end_frame": 854, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 854, "end_frame": 970, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 970, "end_frame": 1113, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1113, "end_frame": 1245, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1245, "end_frame": 1415, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1415, "end_frame": 1667, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1667, "end_frame": 1843, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1843, "end_frame": 1959, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1959, "end_frame": 2089, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2089, "end_frame": 2418, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2418, "end_frame": 2544, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2544, "end_frame": 2737, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 681038, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 451, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 451, "end_frame": 547, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 547, "end_frame": 702, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 702, "end_frame": 823, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 823, "end_frame": 957, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 957, "end_frame": 1098, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1098, "end_frame": 1219, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1219, "end_frame": 1364, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1364, "end_frame": 1508, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1508, "end_frame": 1801, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1801, "end_frame": 1945, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1945, "end_frame": 2059, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2059, "end_frame": 2180, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2180, "end_frame": 2617, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2617, "end_frame": 2720, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2720, "end_frame": 2941, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 681090, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 414, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 414, "end_frame": 680, "action_text": "Grasp the chopsticks 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arm.", "skill": "Place" }, { "start_frame": 2190, "end_frame": 2331, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2331, "end_frame": 2463, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2463, "end_frame": 2660, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2660, "end_frame": 3098, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 3098, "end_frame": 3236, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 3236, "end_frame": 3454, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [ { "start": 414, "end": 680, "description": "" } ] } }, { "episode_id": 681390, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 461, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 461, "end_frame": 550, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 550, "end_frame": 711, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 711, "end_frame": 899, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 899, "end_frame": 1052, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1052, "end_frame": 1165, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1165, "end_frame": 1285, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1285, "end_frame": 1418, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1418, "end_frame": 1575, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1575, "end_frame": 1828, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1828, "end_frame": 1951, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1951, "end_frame": 2071, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2071, "end_frame": 2194, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2194, "end_frame": 2686, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2686, "end_frame": 2846, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2846, "end_frame": 3021, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 681414, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 456, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 456, "end_frame": 544, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 544, "end_frame": 684, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 684, "end_frame": 840, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 840, "end_frame": 986, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 986, "end_frame": 1109, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1109, "end_frame": 1231, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1231, "end_frame": 1354, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1354, "end_frame": 1523, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1523, "end_frame": 1822, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1822, "end_frame": 1932, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1932, "end_frame": 2051, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2051, "end_frame": 2191, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2191, "end_frame": 2672, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2672, "end_frame": 2788, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2788, "end_frame": 3097, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 681447, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 452, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 452, "end_frame": 551, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 551, "end_frame": 681, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 681, "end_frame": 805, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 805, "end_frame": 924, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 924, "end_frame": 1072, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1072, "end_frame": 1205, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1205, "end_frame": 1311, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1311, "end_frame": 1455, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1455, "end_frame": 1767, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1767, "end_frame": 1931, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1931, "end_frame": 2061, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2061, "end_frame": 2239, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2239, "end_frame": 2756, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2756, "end_frame": 2883, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2883, "end_frame": 3088, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 681474, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 403, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 403, "end_frame": 516, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 516, "end_frame": 646, "action_text": "Pass the chopsticks 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"skill": "Pick" }, { "start_frame": 1921, "end_frame": 2030, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2030, "end_frame": 2177, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2177, "end_frame": 2584, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2584, "end_frame": 2711, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2711, "end_frame": 2919, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 681495, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and 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"start_frame": 1225, "end_frame": 1352, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1352, "end_frame": 1496, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1496, "end_frame": 1761, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1761, "end_frame": 1865, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1865, "end_frame": 1973, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1973, "end_frame": 2083, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2083, "end_frame": 2577, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2577, "end_frame": 2707, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2707, "end_frame": 2912, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 681510, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 423, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 423, "end_frame": 528, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 528, "end_frame": 677, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 677, "end_frame": 793, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 793, "end_frame": 943, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 943, "end_frame": 1074, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1074, "end_frame": 1205, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1205, "end_frame": 1332, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1332, "end_frame": 1489, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1489, "end_frame": 1725, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1725, "end_frame": 1849, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1849, "end_frame": 1968, "action_text": "Pass the 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changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 405, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 405, "end_frame": 514, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 514, "end_frame": 660, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 660, "end_frame": 789, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 789, "end_frame": 935, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 935, "end_frame": 1061, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1061, "end_frame": 1177, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1177, "end_frame": 1317, "action_text": "Lift the bowl with the 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dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 681605, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 381, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 381, "end_frame": 509, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 509, "end_frame": 666, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 666, "end_frame": 803, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 803, "end_frame": 947, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 947, "end_frame": 1051, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1051, "end_frame": 1179, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1179, "end_frame": 1340, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1340, "end_frame": 1535, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1535, "end_frame": 1804, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1804, "end_frame": 1969, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1969, "end_frame": 2098, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2098, "end_frame": 2209, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2209, "end_frame": 2640, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2640, "end_frame": 2776, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2776, "end_frame": 2966, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 681657, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 387, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 387, "end_frame": 477, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 477, "end_frame": 618, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 618, "end_frame": 720, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 720, "end_frame": 825, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 825, "end_frame": 966, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 966, "end_frame": 1096, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1096, "end_frame": 1251, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1251, "end_frame": 1414, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1414, "end_frame": 1667, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1667, "end_frame": 1805, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1805, "end_frame": 1931, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1931, "end_frame": 2087, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2087, "end_frame": 2488, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2488, "end_frame": 2611, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2611, "end_frame": 2789, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 681680, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 374, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 374, "end_frame": 483, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 483, "end_frame": 647, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 647, "end_frame": 771, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 771, "end_frame": 917, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 917, "end_frame": 1063, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1063, "end_frame": 1201, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1201, "end_frame": 1385, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1385, "end_frame": 1542, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1542, "end_frame": 1789, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1789, "end_frame": 1924, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1924, "end_frame": 2047, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2047, "end_frame": 2182, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2182, "end_frame": 2586, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2586, "end_frame": 2713, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2713, "end_frame": 2912, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 681707, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 428, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 428, "end_frame": 552, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 552, "end_frame": 688, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 688, "end_frame": 828, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 828, "end_frame": 976, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 976, "end_frame": 1104, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1104, "end_frame": 1255, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1255, "end_frame": 1415, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1415, "end_frame": 1547, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1547, "end_frame": 1772, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1772, "end_frame": 1908, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1908, "end_frame": 2021, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2021, "end_frame": 2138, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2138, "end_frame": 2624, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2624, "end_frame": 2732, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2732, "end_frame": 2911, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 681761, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 375, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 375, "end_frame": 484, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 484, "end_frame": 629, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 629, "end_frame": 766, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 766, "end_frame": 883, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 883, "end_frame": 1012, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1012, "end_frame": 1148, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1148, "end_frame": 1289, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1289, "end_frame": 1414, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1414, "end_frame": 1672, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1672, "end_frame": 1781, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1781, "end_frame": 1914, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1914, "end_frame": 2051, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2051, "end_frame": 2445, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2445, "end_frame": 2558, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2558, "end_frame": 2761, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 681800, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 379, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 379, "end_frame": 468, "action_text": "Grasp the chopsticks 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"skill": "Place" }, { "start_frame": 1677, "end_frame": 1836, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1836, "end_frame": 1951, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1951, "end_frame": 2101, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2101, "end_frame": 2646, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2646, "end_frame": 2765, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2765, "end_frame": 3005, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 681877, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 478, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 478, "end_frame": 597, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 597, "end_frame": 719, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 719, "end_frame": 837, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 837, "end_frame": 960, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 960, "end_frame": 1085, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1085, "end_frame": 1243, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1243, "end_frame": 1384, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1384, "end_frame": 1556, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1556, "end_frame": 1800, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1800, "end_frame": 1930, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1930, "end_frame": 2059, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2059, "end_frame": 2181, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2181, "end_frame": 2652, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2652, "end_frame": 2778, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2778, "end_frame": 2950, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 681940, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 441, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 441, "end_frame": 554, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 554, "end_frame": 690, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 690, "end_frame": 896, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 896, "end_frame": 1005, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1005, "end_frame": 1151, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1151, "end_frame": 1284, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1284, "end_frame": 1400, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1400, "end_frame": 1556, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1556, "end_frame": 1802, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1802, "end_frame": 1938, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1938, "end_frame": 2067, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2067, "end_frame": 2223, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2223, "end_frame": 2737, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2737, "end_frame": 2854, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2854, "end_frame": 3029, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 682052, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 376, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 376, "end_frame": 509, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 509, "end_frame": 630, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 630, "end_frame": 759, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 759, "end_frame": 877, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 877, "end_frame": 988, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 988, "end_frame": 1121, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1121, "end_frame": 1264, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1264, "end_frame": 1382, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1382, "end_frame": 1608, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1608, "end_frame": 1733, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1733, "end_frame": 1830, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1830, "end_frame": 1973, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1973, "end_frame": 2385, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2385, "end_frame": 2503, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2503, "end_frame": 2715, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 682078, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 476, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 476, "end_frame": 592, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 592, "end_frame": 709, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 709, "end_frame": 818, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 818, "end_frame": 960, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 960, "end_frame": 1069, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1069, "end_frame": 1214, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1214, "end_frame": 1334, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1334, "end_frame": 1461, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1461, "end_frame": 1752, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1752, "end_frame": 1901, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1901, "end_frame": 1992, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1992, "end_frame": 2119, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2119, "end_frame": 2617, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2617, "end_frame": 2740, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2740, "end_frame": 2897, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 682124, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 441, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 441, "end_frame": 568, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 568, "end_frame": 733, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 733, "end_frame": 851, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 851, "end_frame": 972, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 972, "end_frame": 1107, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1107, "end_frame": 1248, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1248, "end_frame": 1379, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1379, "end_frame": 1544, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1544, "end_frame": 1759, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1759, "end_frame": 1897, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1897, "end_frame": 2022, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2022, "end_frame": 2160, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2160, "end_frame": 2678, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2678, "end_frame": 2802, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2802, "end_frame": 3037, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 682156, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 429, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 429, "end_frame": 583, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 583, "end_frame": 715, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 715, "end_frame": 829, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 829, "end_frame": 971, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 971, "end_frame": 1092, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1092, "end_frame": 1250, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1250, "end_frame": 1404, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1404, "end_frame": 1554, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1554, "end_frame": 1793, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1793, "end_frame": 1928, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1928, "end_frame": 2035, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2035, "end_frame": 2167, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2167, "end_frame": 2650, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2650, "end_frame": 2779, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2779, "end_frame": 2977, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 682208, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 416, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 416, "end_frame": 556, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 556, "end_frame": 703, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 703, "end_frame": 857, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 857, "end_frame": 972, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 972, "end_frame": 1080, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1080, "end_frame": 1266, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1266, "end_frame": 1388, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1388, "end_frame": 1525, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1525, "end_frame": 1758, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1758, "end_frame": 1898, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1898, "end_frame": 2005, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2005, "end_frame": 2124, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2124, "end_frame": 2590, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2590, "end_frame": 2698, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2698, "end_frame": 2866, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 682242, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 376, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 376, "end_frame": 508, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 508, "end_frame": 627, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 627, "end_frame": 786, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 786, "end_frame": 904, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 904, "end_frame": 1030, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1030, "end_frame": 1158, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1158, "end_frame": 1287, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1287, "end_frame": 1426, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1426, "end_frame": 1646, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1646, "end_frame": 1751, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1751, "end_frame": 1887, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1887, "end_frame": 2032, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2032, "end_frame": 2571, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2571, "end_frame": 2672, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2672, "end_frame": 2886, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 682309, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 406, "action_text": "Lift the dishwasher lid with 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"start_frame": 1562, "end_frame": 1778, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1778, "end_frame": 1915, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1915, "end_frame": 2028, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2028, "end_frame": 2171, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2171, "end_frame": 2583, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2583, "end_frame": 2736, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2736, "end_frame": 2945, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 682334, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 394, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 394, "end_frame": 505, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 505, "end_frame": 670, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 670, "end_frame": 806, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 806, "end_frame": 950, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 950, "end_frame": 1053, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1053, "end_frame": 1204, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1204, "end_frame": 1344, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1344, "end_frame": 1469, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1469, "end_frame": 1691, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1691, "end_frame": 1810, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1810, "end_frame": 1928, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1928, "end_frame": 2068, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2068, "end_frame": 2505, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2505, "end_frame": 2630, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2630, "end_frame": 2813, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 682362, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 388, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 388, "end_frame": 484, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 484, "end_frame": 613, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 613, "end_frame": 706, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 706, "end_frame": 832, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 832, "end_frame": 968, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 968, "end_frame": 1071, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1071, "end_frame": 1243, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1243, "end_frame": 1386, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1386, "end_frame": 1621, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1621, "end_frame": 1750, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1750, "end_frame": 1880, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1880, "end_frame": 2052, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2052, "end_frame": 2510, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2510, "end_frame": 2626, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2626, "end_frame": 2808, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 682409, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 429, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 429, "end_frame": 517, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 517, "end_frame": 699, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 699, "end_frame": 841, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 841, "end_frame": 976, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 976, "end_frame": 1172, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1172, "end_frame": 1321, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1321, "end_frame": 1436, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1436, "end_frame": 1591, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1591, "end_frame": 1811, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1811, "end_frame": 1932, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1932, "end_frame": 2068, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2068, "end_frame": 2250, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2250, "end_frame": 2689, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2689, "end_frame": 2838, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2838, "end_frame": 3027, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 682447, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 442, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 442, "end_frame": 532, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 532, "end_frame": 677, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 677, "end_frame": 793, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 793, "end_frame": 912, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 912, "end_frame": 1046, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1046, "end_frame": 1176, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1176, "end_frame": 1318, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1318, "end_frame": 1462, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1462, "end_frame": 1672, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1672, "end_frame": 1810, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1810, "end_frame": 1940, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1940, "end_frame": 2074, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2074, "end_frame": 2613, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2613, "end_frame": 2758, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2758, "end_frame": 2928, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 682473, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 434, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 434, "end_frame": 543, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 543, "end_frame": 686, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 686, "end_frame": 833, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 833, "end_frame": 963, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 963, "end_frame": 1096, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1096, "end_frame": 1226, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1226, "end_frame": 1355, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1355, "end_frame": 1495, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1495, "end_frame": 1734, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1734, "end_frame": 1868, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1868, "end_frame": 2001, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2001, "end_frame": 2124, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2124, "end_frame": 2595, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2595, "end_frame": 2728, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2728, "end_frame": 2926, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 682544, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 521, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 521, "end_frame": 674, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 674, "end_frame": 826, "action_text": "Pass the chopsticks 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"skill": "Pick" }, { "start_frame": 1978, "end_frame": 2104, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2104, "end_frame": 2237, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2237, "end_frame": 2795, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2795, "end_frame": 2901, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2901, "end_frame": 3120, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 682635, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 497, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 497, "end_frame": 613, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 613, "end_frame": 766, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 766, "end_frame": 908, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 908, "end_frame": 1034, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1034, "end_frame": 1160, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1160, "end_frame": 1343, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1343, "end_frame": 1459, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1459, "end_frame": 1615, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1615, "end_frame": 1830, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1830, "end_frame": 1959, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1959, "end_frame": 2092, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2092, "end_frame": 2231, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2231, "end_frame": 2685, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2685, "end_frame": 2795, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2795, "end_frame": 2984, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 682659, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 524, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 524, "end_frame": 646, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 646, "end_frame": 859, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 859, "end_frame": 975, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 975, "end_frame": 1101, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1101, "end_frame": 1223, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1223, "end_frame": 1353, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1353, "end_frame": 1492, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1492, "end_frame": 1628, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1628, "end_frame": 1847, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1847, "end_frame": 1959, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1959, "end_frame": 2095, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2095, "end_frame": 2218, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2218, "end_frame": 2705, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2705, "end_frame": 2818, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2818, "end_frame": 3030, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 682685, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 436, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 436, "end_frame": 533, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 533, "end_frame": 659, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 659, "end_frame": 779, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 779, "end_frame": 882, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 882, "end_frame": 999, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 999, "end_frame": 1125, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1125, "end_frame": 1259, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1259, "end_frame": 1412, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1412, "end_frame": 1618, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1618, "end_frame": 1741, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1741, "end_frame": 1861, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1861, "end_frame": 2015, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2015, "end_frame": 2477, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2477, "end_frame": 2621, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2621, "end_frame": 2810, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 682714, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 454, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 454, "end_frame": 574, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 574, "end_frame": 694, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 694, "end_frame": 803, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 803, "end_frame": 933, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 933, "end_frame": 1052, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1052, "end_frame": 1172, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1172, "end_frame": 1305, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1305, "end_frame": 1459, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1459, "end_frame": 1674, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1674, "end_frame": 1780, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1780, "end_frame": 1903, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1903, "end_frame": 2037, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2037, "end_frame": 2477, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2477, "end_frame": 2611, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2611, "end_frame": 2799, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 682765, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 465, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 465, "end_frame": 574, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 574, "end_frame": 724, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 724, "end_frame": 850, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 850, "end_frame": 960, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 960, "end_frame": 1092, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1092, "end_frame": 1218, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1218, "end_frame": 1355, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1355, "end_frame": 1491, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1491, "end_frame": 1700, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1700, "end_frame": 1849, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1849, "end_frame": 1959, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1959, "end_frame": 2092, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2092, "end_frame": 2570, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2570, "end_frame": 2679, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2679, "end_frame": 2895, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 682806, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 508, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 508, "end_frame": 611, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 611, "end_frame": 750, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 750, "end_frame": 863, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 863, "end_frame": 969, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 969, "end_frame": 1119, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1119, "end_frame": 1248, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1248, "end_frame": 1381, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1381, "end_frame": 1510, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1510, "end_frame": 1703, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1703, "end_frame": 1839, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1839, "end_frame": 1962, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1962, "end_frame": 2111, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2111, "end_frame": 2589, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2589, "end_frame": 2728, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2728, "end_frame": 2984, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 682838, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 470, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 470, "end_frame": 576, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 576, "end_frame": 706, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 706, "end_frame": 826, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 826, "end_frame": 939, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 939, "end_frame": 1066, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1066, "end_frame": 1189, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1189, "end_frame": 1326, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1326, "end_frame": 1459, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1459, "end_frame": 1669, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1669, "end_frame": 1785, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1785, "end_frame": 1925, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1925, "end_frame": 2048, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2048, "end_frame": 2555, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2555, "end_frame": 2691, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2691, "end_frame": 2871, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 682894, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 442, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 442, "end_frame": 554, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 554, "end_frame": 677, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 677, "end_frame": 777, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 777, "end_frame": 893, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 893, "end_frame": 993, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 993, "end_frame": 1099, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1099, "end_frame": 1202, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1202, "end_frame": 1341, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1341, "end_frame": 1607, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1607, "end_frame": 1723, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1723, "end_frame": 1836, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1836, "end_frame": 2015, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2015, "end_frame": 2477, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2477, "end_frame": 2623, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2623, "end_frame": 2815, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 682931, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 456, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 456, "end_frame": 545, "action_text": "Grasp the chopsticks 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"skill": "Place" }, { "start_frame": 1749, "end_frame": 1872, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1872, "end_frame": 1984, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1984, "end_frame": 2141, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2141, "end_frame": 2607, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2607, "end_frame": 2750, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2750, "end_frame": 2941, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 683009, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 408, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 408, "end_frame": 527, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 527, "end_frame": 680, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 680, "end_frame": 796, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 796, "end_frame": 912, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 912, "end_frame": 1068, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1068, "end_frame": 1167, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1167, "end_frame": 1333, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1333, "end_frame": 1502, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1502, "end_frame": 1744, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1744, "end_frame": 1870, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1870, "end_frame": 2000, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2000, "end_frame": 2179, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2179, "end_frame": 2670, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2670, "end_frame": 2806, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2806, "end_frame": 2991, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 683071, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 415, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 415, "end_frame": 542, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 542, "end_frame": 681, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 681, "end_frame": 808, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 808, "end_frame": 924, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 924, "end_frame": 1040, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1040, "end_frame": 1163, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1163, "end_frame": 1323, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1323, "end_frame": 1499, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1499, "end_frame": 1718, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1718, "end_frame": 1845, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1845, "end_frame": 1968, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1968, "end_frame": 2107, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2107, "end_frame": 2563, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2563, "end_frame": 2706, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2706, "end_frame": 2895, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 683193, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 427, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 427, "end_frame": 554, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 554, "end_frame": 718, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 718, "end_frame": 864, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 864, "end_frame": 991, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 991, "end_frame": 1111, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1111, "end_frame": 1335, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1335, "end_frame": 1455, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1455, "end_frame": 1592, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1592, "end_frame": 1796, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1796, "end_frame": 1912, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1912, "end_frame": 2036, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2036, "end_frame": 2183, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2183, "end_frame": 2570, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2570, "end_frame": 2693, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2693, "end_frame": 2974, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 683221, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 459, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 459, "end_frame": 572, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 572, "end_frame": 708, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 708, "end_frame": 827, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 827, "end_frame": 937, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 937, "end_frame": 1067, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1067, "end_frame": 1186, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1186, "end_frame": 1316, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1316, "end_frame": 1465, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1465, "end_frame": 1685, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1685, "end_frame": 1808, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1808, "end_frame": 1921, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1921, "end_frame": 2074, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2074, "end_frame": 2529, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2529, "end_frame": 2678, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2678, "end_frame": 2858, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 686731, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 449, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 449, "end_frame": 559, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 559, "end_frame": 718, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 718, "end_frame": 928, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 928, "end_frame": 1014, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1014, "end_frame": 1141, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1141, "end_frame": 1277, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1277, "end_frame": 1370, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1370, "end_frame": 1507, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1507, "end_frame": 1719, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1719, "end_frame": 1826, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1826, "end_frame": 1942, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1942, "end_frame": 2082, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2082, "end_frame": 2528, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2528, "end_frame": 2631, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2631, "end_frame": 2817, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 686754, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 434, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 434, "end_frame": 539, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 539, "end_frame": 715, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 715, "end_frame": 853, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 853, "end_frame": 950, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 950, "end_frame": 1059, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1059, "end_frame": 1182, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1182, "end_frame": 1291, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1291, "end_frame": 1437, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1437, "end_frame": 1646, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1646, "end_frame": 1766, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1766, "end_frame": 1878, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1878, "end_frame": 2013, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2013, "end_frame": 2484, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2484, "end_frame": 2615, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2615, "end_frame": 2806, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 686774, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 419, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 419, "end_frame": 532, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 532, "end_frame": 664, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 664, "end_frame": 817, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 817, "end_frame": 914, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 914, "end_frame": 1056, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1056, "end_frame": 1226, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1226, "end_frame": 1335, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1335, "end_frame": 1472, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1472, "end_frame": 1681, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1681, "end_frame": 1787, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1787, "end_frame": 1897, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1897, "end_frame": 2033, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2033, "end_frame": 2528, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2528, "end_frame": 2678, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2678, "end_frame": 2900, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 686792, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 432, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 432, "end_frame": 535, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 535, "end_frame": 681, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 681, "end_frame": 823, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 823, "end_frame": 913, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 913, "end_frame": 1036, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1036, "end_frame": 1155, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1155, "end_frame": 1262, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1262, "end_frame": 1401, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1401, "end_frame": 1630, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1630, "end_frame": 1753, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1753, "end_frame": 1866, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1866, "end_frame": 2005, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2005, "end_frame": 2420, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2420, "end_frame": 2530, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2530, "end_frame": 2742, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 686811, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 374, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 374, "end_frame": 494, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 494, "end_frame": 624, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 624, "end_frame": 785, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 785, "end_frame": 878, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 878, "end_frame": 995, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 995, "end_frame": 1145, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1145, "end_frame": 1235, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1235, "end_frame": 1359, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1359, "end_frame": 1572, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1572, "end_frame": 1696, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1696, "end_frame": 1803, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1803, "end_frame": 1923, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1923, "end_frame": 2384, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2384, "end_frame": 2514, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2514, "end_frame": 2711, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 686830, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 414, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 414, "end_frame": 519, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 519, "end_frame": 672, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 672, "end_frame": 803, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 803, "end_frame": 904, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 904, "end_frame": 1035, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1035, "end_frame": 1162, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1162, "end_frame": 1246, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1246, "end_frame": 1395, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1395, "end_frame": 1606, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1606, "end_frame": 1729, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1729, "end_frame": 1849, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1849, "end_frame": 1976, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1976, "end_frame": 2401, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2401, "end_frame": 2510, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2510, "end_frame": 2695, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 686845, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 373, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 373, "end_frame": 481, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 481, "end_frame": 624, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 624, "end_frame": 746, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 746, "end_frame": 839, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 839, "end_frame": 954, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 954, "end_frame": 1094, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1094, "end_frame": 1184, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1184, "end_frame": 1306, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1306, "end_frame": 1499, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1499, "end_frame": 1614, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1614, "end_frame": 1732, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1732, "end_frame": 1851, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1851, "end_frame": 2270, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2270, "end_frame": 2392, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2392, "end_frame": 2618, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 686891, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 425, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 425, "end_frame": 541, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 541, "end_frame": 690, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 690, "end_frame": 826, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 826, "end_frame": 919, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 919, "end_frame": 1046, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1046, "end_frame": 1162, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1162, "end_frame": 1268, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1268, "end_frame": 1404, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1404, "end_frame": 1620, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1620, "end_frame": 1736, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1736, "end_frame": 1862, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1862, "end_frame": 2018, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2018, "end_frame": 2440, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2440, "end_frame": 2556, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2556, "end_frame": 2745, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 686915, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 371, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 371, "end_frame": 506, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 506, "end_frame": 666, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 666, "end_frame": 786, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 786, "end_frame": 897, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 897, "end_frame": 1027, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1027, "end_frame": 1132, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1132, "end_frame": 1247, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1247, "end_frame": 1402, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1402, "end_frame": 1598, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1598, "end_frame": 1718, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1718, "end_frame": 1853, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1853, "end_frame": 1998, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1998, "end_frame": 2434, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2434, "end_frame": 2559, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2559, "end_frame": 2760, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 686948, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 395, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 395, "end_frame": 516, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 516, "end_frame": 646, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 646, "end_frame": 780, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 780, "end_frame": 884, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 884, "end_frame": 1001, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1001, "end_frame": 1152, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1152, "end_frame": 1283, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1283, "end_frame": 1450, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1450, "end_frame": 1668, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1668, "end_frame": 1802, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1802, "end_frame": 1926, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1926, "end_frame": 2080, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2080, "end_frame": 2555, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2555, "end_frame": 2666, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2666, "end_frame": 2884, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 686977, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 415, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 415, "end_frame": 561, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 561, "end_frame": 724, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 724, "end_frame": 863, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 863, "end_frame": 966, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 966, "end_frame": 1093, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1093, "end_frame": 1216, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1216, "end_frame": 1312, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1312, "end_frame": 1451, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1451, "end_frame": 1651, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1651, "end_frame": 1790, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1790, "end_frame": 1910, 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inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 432, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 432, "end_frame": 568, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 568, "end_frame": 744, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 744, "end_frame": 863, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 863, "end_frame": 976, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 976, "end_frame": 1096, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1096, "end_frame": 1235, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1235, "end_frame": 1351, "action_text": "Lift 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to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 687027, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 412, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 412, "end_frame": 544, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 544, "end_frame": 720, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 720, "end_frame": 867, "action_text": "Place the chopsticks held in the left arm into the 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2035, "end_frame": 2181, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2181, "end_frame": 2630, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2630, "end_frame": 2749, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2749, "end_frame": 2928, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 687070, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { 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687092, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 414, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 414, "end_frame": 534, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 534, "end_frame": 684, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 684, "end_frame": 814, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 814, "end_frame": 928, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 928, "end_frame": 1068, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1068, "end_frame": 1181, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1181, "end_frame": 1301, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1301, "end_frame": 1445, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1445, "end_frame": 1685, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1685, "end_frame": 1805, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1805, "end_frame": 1915, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1915, "end_frame": 2059, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2059, "end_frame": 2492, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2492, "end_frame": 2603, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2603, "end_frame": 2789, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 687108, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 412, "action_text": "Lift the dishwasher lid with both arms.", 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1456, "end_frame": 1699, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1699, "end_frame": 1805, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1805, "end_frame": 1935, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1935, "end_frame": 2078, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2078, "end_frame": 2504, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2504, "end_frame": 2610, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2610, "end_frame": 2806, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 687133, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 366, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 366, "end_frame": 512, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 512, "end_frame": 645, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 645, "end_frame": 784, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 784, "end_frame": 891, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 891, "end_frame": 1014, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1014, "end_frame": 1136, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1136, "end_frame": 1246, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1246, "end_frame": 1372, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1372, "end_frame": 1588, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1588, "end_frame": 1715, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1715, "end_frame": 1831, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1831, "end_frame": 1964, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1964, "end_frame": 2339, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2339, "end_frame": 2489, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2489, "end_frame": 2692, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 687159, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 362, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 362, "end_frame": 495, "action_text": "Grasp the chopsticks 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"skill": "Place" }, { "start_frame": 1620, "end_frame": 1726, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1726, "end_frame": 1855, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1855, "end_frame": 1995, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1995, "end_frame": 2406, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2406, "end_frame": 2529, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2529, "end_frame": 2725, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 687179, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 391, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 391, "end_frame": 531, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 531, "end_frame": 675, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 675, "end_frame": 808, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 808, "end_frame": 919, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 919, "end_frame": 1039, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1039, "end_frame": 1209, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1209, "end_frame": 1333, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1333, "end_frame": 1456, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1456, "end_frame": 1684, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1684, "end_frame": 1807, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1807, "end_frame": 1911, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1911, "end_frame": 2064, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2064, "end_frame": 2472, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2472, "end_frame": 2575, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2575, "end_frame": 2823, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [ { "start": 1039, "end": 1209, "description": "" } ] } }, { "episode_id": 687228, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 437, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 437, "end_frame": 573, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 573, "end_frame": 713, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 713, "end_frame": 876, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 876, "end_frame": 992, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 992, "end_frame": 1286, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1286, "end_frame": 1436, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1436, "end_frame": 1541, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1541, "end_frame": 1674, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1674, "end_frame": 1906, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1906, 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right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 398, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 398, "end_frame": 551, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 551, "end_frame": 697, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 697, "end_frame": 826, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 826, "end_frame": 936, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 936, "end_frame": 1082, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1082, "end_frame": 1275, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1275, "end_frame": 1384, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1384, "end_frame": 1530, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1530, "end_frame": 1743, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1743, "end_frame": 1902, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1902, "end_frame": 2031, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2031, "end_frame": 2204, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2204, "end_frame": 2698, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2698, 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699, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 699, "end_frame": 835, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 835, "end_frame": 948, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 948, "end_frame": 1077, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1077, "end_frame": 1229, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1229, "end_frame": 1339, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1339, "end_frame": 1481, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1481, "end_frame": 1686, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1686, "end_frame": 1806, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1806, "end_frame": 1942, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1942, "end_frame": 2067, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2067, "end_frame": 2505, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2505, "end_frame": 2647, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2647, "end_frame": 2856, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 687335, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 393, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 393, "end_frame": 538, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 538, "end_frame": 677, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 677, "end_frame": 805, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 805, "end_frame": 914, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 914, "end_frame": 1046, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1046, "end_frame": 1195, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1195, "end_frame": 1296, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1296, "end_frame": 1428, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1428, "end_frame": 1655, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1655, "end_frame": 1777, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1777, "end_frame": 1895, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1895, "end_frame": 2037, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2037, "end_frame": 2497, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2497, "end_frame": 2609, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2609, "end_frame": 2819, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 687356, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 395, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 395, "end_frame": 534, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 534, "end_frame": 683, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 683, "end_frame": 829, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 829, "end_frame": 932, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 932, "end_frame": 1075, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1075, "end_frame": 1211, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1211, "end_frame": 1327, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1327, "end_frame": 1453, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1453, "end_frame": 1705, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1705, "end_frame": 1828, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1828, "end_frame": 1954, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1954, "end_frame": 2103, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2103, "end_frame": 2524, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2524, "end_frame": 2654, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2654, "end_frame": 2932, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 687382, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 422, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 422, "end_frame": 571, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 571, "end_frame": 699, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 699, "end_frame": 841, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 841, "end_frame": 944, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 944, "end_frame": 1071, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1071, "end_frame": 1195, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1195, "end_frame": 1330, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1330, "end_frame": 1454, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1454, "end_frame": 1660, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1660, "end_frame": 1844, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1844, "end_frame": 1993, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1993, "end_frame": 2181, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2181, "end_frame": 2572, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2572, "end_frame": 2699, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2699, "end_frame": 2901, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 687415, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 414, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 414, "end_frame": 568, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 568, "end_frame": 718, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 718, "end_frame": 847, "action_text": "Place the chopsticks held in the 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{ "start_frame": 1954, "end_frame": 2208, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2208, "end_frame": 2611, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2611, "end_frame": 2736, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2736, "end_frame": 2933, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 687479, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 394, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 394, "end_frame": 542, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 542, "end_frame": 672, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 672, "end_frame": 816, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 816, "end_frame": 925, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 925, "end_frame": 1058, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1058, "end_frame": 1224, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1224, "end_frame": 1351, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1351, "end_frame": 1470, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1470, "end_frame": 1680, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1680, "end_frame": 1824, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1824, "end_frame": 1961, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1961, "end_frame": 2135, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2135, "end_frame": 2608, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2608, "end_frame": 2756, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2756, "end_frame": 2922, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 687506, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 445, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 445, "end_frame": 601, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 601, "end_frame": 734, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 734, "end_frame": 871, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 871, "end_frame": 984, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 984, "end_frame": 1107, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1107, "end_frame": 1256, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1256, "end_frame": 1376, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1376, "end_frame": 1509, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1509, "end_frame": 1738, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1738, "end_frame": 1854, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1854, "end_frame": 1984, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1984, "end_frame": 2137, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2137, "end_frame": 2552, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2552, "end_frame": 2675, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2675, "end_frame": 2871, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 687558, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 455, "action_text": "Lift the dishwasher lid with 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"start_frame": 1500, "end_frame": 1719, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1719, "end_frame": 1842, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1842, "end_frame": 1972, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1972, "end_frame": 2111, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2111, "end_frame": 2582, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2582, "end_frame": 2698, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2698, "end_frame": 2898, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 687587, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 435, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 435, "end_frame": 613, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 613, "end_frame": 750, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 750, "end_frame": 869, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 869, "end_frame": 974, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 974, "end_frame": 1104, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1104, "end_frame": 1251, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1251, "end_frame": 1367, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1367, "end_frame": 1511, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1511, "end_frame": 1767, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1767, "end_frame": 1907, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1907, "end_frame": 2040, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2040, "end_frame": 2198, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2198, "end_frame": 2696, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2696, "end_frame": 2825, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2825, "end_frame": 3053, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 687608, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 415, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 415, "end_frame": 584, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 584, "end_frame": 720, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 720, "end_frame": 850, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 850, "end_frame": 963, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 963, "end_frame": 1082, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1082, "end_frame": 1202, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1202, "end_frame": 1311, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1311, "end_frame": 1441, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1441, "end_frame": 1640, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1640, "end_frame": 1790, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1790, "end_frame": 1896, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1896, "end_frame": 2052, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2052, "end_frame": 2500, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2500, "end_frame": 2616, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2616, "end_frame": 2809, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 687655, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 398, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 398, "end_frame": 577, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 577, "end_frame": 727, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 727, "end_frame": 896, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 896, "end_frame": 1012, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1012, "end_frame": 1138, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1138, "end_frame": 1274, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1274, "end_frame": 1420, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1420, "end_frame": 1566, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1566, "end_frame": 1855, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1855, "end_frame": 1988, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1988, "end_frame": 2117, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2117, "end_frame": 2306, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2306, "end_frame": 2787, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2787, "end_frame": 2903, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2903, "end_frame": 3126, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 687674, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 446, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 446, "end_frame": 614, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 614, "end_frame": 775, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 775, "end_frame": 909, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 909, "end_frame": 1013, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1013, "end_frame": 1144, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1144, "end_frame": 1265, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1265, "end_frame": 1365, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1365, "end_frame": 1520, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1520, "end_frame": 1728, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1728, "end_frame": 1872, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1872, "end_frame": 2013, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2013, "end_frame": 2184, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2184, "end_frame": 2637, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2637, "end_frame": 2778, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2778, "end_frame": 3023, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 687760, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 460, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 460, "end_frame": 600, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 600, "end_frame": 745, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 745, "end_frame": 874, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 874, "end_frame": 967, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 967, "end_frame": 1090, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1090, "end_frame": 1219, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1219, "end_frame": 1332, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1332, "end_frame": 1457, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1457, "end_frame": 1650, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1650, "end_frame": 1805, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1805, "end_frame": 1915, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1915, "end_frame": 2057, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2057, "end_frame": 2454, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2454, "end_frame": 2594, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2594, "end_frame": 2799, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 687786, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 428, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 428, "end_frame": 561, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 561, "end_frame": 707, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 707, "end_frame": 849, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 849, "end_frame": 962, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 962, "end_frame": 1088, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1088, "end_frame": 1201, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1201, "end_frame": 1317, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1317, "end_frame": 1440, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1440, "end_frame": 1672, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1672, "end_frame": 1852, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1852, "end_frame": 1978, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1978, "end_frame": 2134, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2134, "end_frame": 2585, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2585, "end_frame": 2691, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2691, "end_frame": 2920, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 687866, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 431, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 431, "end_frame": 620, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 620, "end_frame": 785, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 785, "end_frame": 933, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 933, "end_frame": 1047, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1047, "end_frame": 1162, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1162, "end_frame": 1273, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1273, "end_frame": 1401, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1401, "end_frame": 1542, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1542, "end_frame": 1771, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1771, "end_frame": 1893, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1893, "end_frame": 2017, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2017, "end_frame": 2165, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2165, "end_frame": 2613, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2613, "end_frame": 2718, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2718, "end_frame": 2923, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 687893, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 455, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 455, "end_frame": 631, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 631, "end_frame": 778, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 778, "end_frame": 894, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 894, "end_frame": 1000, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1000, "end_frame": 1136, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1136, "end_frame": 1233, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1233, "end_frame": 1362, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1362, "end_frame": 1485, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1485, "end_frame": 1705, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1705, "end_frame": 1838, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1838, "end_frame": 1954, "action_text": "Pass 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changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 416, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 416, "end_frame": 589, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 589, "end_frame": 736, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 736, "end_frame": 865, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 865, "end_frame": 965, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 965, "end_frame": 1082, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1082, "end_frame": 1205, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1205, "end_frame": 1332, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1332, "end_frame": 1465, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1465, "end_frame": 1671, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1671, "end_frame": 1824, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1824, "end_frame": 1941, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1941, "end_frame": 2084, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2084, "end_frame": 2563, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2563, "end_frame": 2693, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2693, "end_frame": 2919, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 687944, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 434, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 434, "end_frame": 637, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 637, "end_frame": 779, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 779, "end_frame": 907, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 907, "end_frame": 1010, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1010, "end_frame": 1128, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1128, "end_frame": 1259, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1259, "end_frame": 1391, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1391, "end_frame": 1526, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1526, "end_frame": 1733, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1733, "end_frame": 1918, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1918, "end_frame": 2042, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2042, "end_frame": 2192, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2192, "end_frame": 2622, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2622, "end_frame": 2764, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2764, "end_frame": 2981, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 687972, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 415, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 415, "end_frame": 594, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 594, "end_frame": 733, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 733, "end_frame": 882, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 882, "end_frame": 1032, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1032, "end_frame": 1144, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1144, "end_frame": 1267, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1267, "end_frame": 1406, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1406, "end_frame": 1549, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1549, "end_frame": 1755, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1755, "end_frame": 1990, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1990, "end_frame": 2106, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2106, "end_frame": 2252, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2252, "end_frame": 2680, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2680, "end_frame": 2803, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2803, "end_frame": 3012, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 687995, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 458, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 458, "end_frame": 637, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 637, "end_frame": 777, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 777, "end_frame": 1013, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1013, "end_frame": 1126, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1126, "end_frame": 1235, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1235, "end_frame": 1341, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1341, "end_frame": 1467, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1467, "end_frame": 1607, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1607, "end_frame": 1809, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1809, "end_frame": 1979, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1979, "end_frame": 2115, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2115, "end_frame": 2274, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2274, "end_frame": 2713, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2713, "end_frame": 2839, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2839, "end_frame": 3058, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [ { "start": 777, "end": 1013, "description": "" } ] } }, { "episode_id": 688012, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 415, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 415, "end_frame": 567, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 567, "end_frame": 736, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 736, "end_frame": 861, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 861, "end_frame": 989, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 989, "end_frame": 1131, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1131, "end_frame": 1256, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1256, "end_frame": 1405, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1405, "end_frame": 1556, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1556, "end_frame": 1749, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1749, "end_frame": 1938, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1938, "end_frame": 2070, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2070, "end_frame": 2222, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2222, "end_frame": 2745, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2745, "end_frame": 2883, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2883, "end_frame": 3113, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 688033, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 434, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 434, "end_frame": 590, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 590, "end_frame": 744, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 744, "end_frame": 867, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 867, "end_frame": 984, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 984, "end_frame": 1110, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1110, "end_frame": 1267, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1267, "end_frame": 1417, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1417, "end_frame": 1561, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1561, "end_frame": 1774, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1774, "end_frame": 1921, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1921, "end_frame": 2034, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2034, "end_frame": 2168, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2168, "end_frame": 2564, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2564, "end_frame": 2711, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2711, "end_frame": 2938, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 688057, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 422, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 422, "end_frame": 608, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 608, "end_frame": 764, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 764, "end_frame": 902, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 902, "end_frame": 1027, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1027, "end_frame": 1162, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1162, "end_frame": 1284, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1284, "end_frame": 1446, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1446, "end_frame": 1592, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1592, "end_frame": 1798, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1798, "end_frame": 1967, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1967, "end_frame": 2102, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2102, "end_frame": 2227, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2227, "end_frame": 2666, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2666, "end_frame": 2822, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2822, "end_frame": 3068, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 688078, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 458, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 458, "end_frame": 646, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 646, "end_frame": 802, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 802, "end_frame": 962, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 962, "end_frame": 1065, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1065, "end_frame": 1212, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1212, "end_frame": 1435, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1435, "end_frame": 1611, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1611, "end_frame": 1754, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1754, "end_frame": 1971, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1971, "end_frame": 2120, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2120, "end_frame": 2267, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2267, "end_frame": 2427, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2427, "end_frame": 2853, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2853, "end_frame": 2989, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2989, "end_frame": 3192, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 688110, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 442, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 442, "end_frame": 616, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 616, "end_frame": 765, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 765, "end_frame": 888, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 888, "end_frame": 990, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 990, "end_frame": 1119, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1119, "end_frame": 1245, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1245, "end_frame": 1394, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1394, "end_frame": 1534, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1534, "end_frame": 1779, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1779, "end_frame": 1928, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1928, "end_frame": 2061, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2061, "end_frame": 2193, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2193, "end_frame": 2676, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2676, "end_frame": 2809, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2809, "end_frame": 3023, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 688136, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 458, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 458, "end_frame": 625, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 625, "end_frame": 777, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 777, "end_frame": 940, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 940, "end_frame": 1030, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1030, "end_frame": 1156, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1156, "end_frame": 1302, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1302, "end_frame": 1438, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1438, "end_frame": 1568, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1568, "end_frame": 1777, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1777, "end_frame": 1923, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1923, "end_frame": 2056, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2056, "end_frame": 2216, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2216, "end_frame": 2644, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2644, "end_frame": 2781, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2781, "end_frame": 3016, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 688159, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 452, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 452, "end_frame": 628, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 628, "end_frame": 771, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 771, "end_frame": 933, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 933, "end_frame": 1083, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1083, "end_frame": 1224, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1224, "end_frame": 1364, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1364, "end_frame": 1487, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1487, "end_frame": 1630, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1630, "end_frame": 1830, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1830, "end_frame": 1992, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1992, "end_frame": 2128, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2128, "end_frame": 2269, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2269, "end_frame": 2763, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2763, "end_frame": 2882, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2882, "end_frame": 3065, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 688181, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 433, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 433, "end_frame": 597, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 597, "end_frame": 735, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 735, "end_frame": 852, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 852, "end_frame": 983, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 983, "end_frame": 1111, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1111, "end_frame": 1265, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1265, "end_frame": 1402, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1402, "end_frame": 1540, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1540, "end_frame": 1765, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1765, "end_frame": 1929, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1929, "end_frame": 2057, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2057, "end_frame": 2211, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2211, "end_frame": 2687, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2687, "end_frame": 2798, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2798, "end_frame": 3019, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 688206, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 412, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 412, "end_frame": 565, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 565, "end_frame": 707, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 707, "end_frame": 814, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 814, "end_frame": 943, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 943, "end_frame": 1066, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1066, "end_frame": 1196, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1196, "end_frame": 1338, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1338, "end_frame": 1485, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1485, "end_frame": 1690, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1690, "end_frame": 1830, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1830, "end_frame": 1956, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1956, "end_frame": 2092, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2092, "end_frame": 2511, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2511, "end_frame": 2657, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2657, "end_frame": 2899, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 688263, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 442, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 442, "end_frame": 625, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 625, "end_frame": 784, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 784, "end_frame": 947, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 947, "end_frame": 1070, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1070, "end_frame": 1197, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1197, "end_frame": 1320, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1320, "end_frame": 1469, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1469, "end_frame": 1609, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1609, "end_frame": 1805, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1805, "end_frame": 1964, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1964, "end_frame": 2084, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2084, "end_frame": 2247, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2247, "end_frame": 2762, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2762, "end_frame": 2882, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2882, "end_frame": 3075, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 688385, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 455, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 455, "end_frame": 606, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 606, "end_frame": 753, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 753, "end_frame": 900, "action_text": "Place the chopsticks held in the 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}, { "start_frame": 1987, "end_frame": 2131, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2131, "end_frame": 2573, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2573, "end_frame": 2701, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2701, "end_frame": 2923, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 688411, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 428, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 428, "end_frame": 587, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 587, "end_frame": 722, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 722, "end_frame": 842, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 842, "end_frame": 966, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 966, "end_frame": 1086, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1086, "end_frame": 1199, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1199, "end_frame": 1372, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1372, "end_frame": 1503, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1503, "end_frame": 1719, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1719, "end_frame": 1871, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1871, "end_frame": 1999, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1999, "end_frame": 2140, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2140, "end_frame": 2547, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2547, "end_frame": 2660, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2660, "end_frame": 2851, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 688436, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 443, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 443, "end_frame": 569, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 569, "end_frame": 705, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 705, "end_frame": 841, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 841, "end_frame": 970, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 970, "end_frame": 1088, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1088, "end_frame": 1247, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1247, "end_frame": 1387, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1387, "end_frame": 1539, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1539, "end_frame": 1728, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1728, "end_frame": 1876, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1876, "end_frame": 1998, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1998, "end_frame": 2138, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2138, "end_frame": 2543, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2543, "end_frame": 2687, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2687, "end_frame": 2877, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 688464, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 408, "action_text": "Lift the dishwasher lid with 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"start_frame": 1457, "end_frame": 1643, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1643, "end_frame": 1782, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1782, "end_frame": 1902, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1902, "end_frame": 2038, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2038, "end_frame": 2473, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2473, "end_frame": 2609, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2609, "end_frame": 2805, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 688490, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 436, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 436, "end_frame": 566, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 566, "end_frame": 700, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 700, "end_frame": 844, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 844, "end_frame": 938, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 938, "end_frame": 1072, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1072, "end_frame": 1183, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1183, "end_frame": 1330, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1330, "end_frame": 1444, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1444, "end_frame": 1632, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1632, "end_frame": 1820, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1820, "end_frame": 1940, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1940, "end_frame": 2068, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2068, "end_frame": 2590, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2590, "end_frame": 2701, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2701, "end_frame": 2882, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 688511, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 421, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 421, "end_frame": 568, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 568, "end_frame": 711, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 711, "end_frame": 892, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 892, "end_frame": 1045, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1045, "end_frame": 1149, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1149, "end_frame": 1269, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1269, "end_frame": 1486, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1486, "end_frame": 1626, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1626, "end_frame": 1823, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1823, "end_frame": 1997, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1997, "end_frame": 2124, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2124, "end_frame": 2251, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2251, "end_frame": 2758, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2758, "end_frame": 2909, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2909, "end_frame": 3086, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 688539, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 473, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 473, "end_frame": 605, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 605, "end_frame": 747, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 747, "end_frame": 886, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 886, "end_frame": 987, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 987, "end_frame": 1115, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1115, "end_frame": 1241, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1241, "end_frame": 1389, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1389, "end_frame": 1531, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1531, "end_frame": 1731, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1731, "end_frame": 1900, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1900, "end_frame": 2021, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2021, "end_frame": 2153, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2153, "end_frame": 2562, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2562, "end_frame": 2674, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2674, "end_frame": 2863, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 688571, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 421, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 421, "end_frame": 569, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 569, "end_frame": 689, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 689, "end_frame": 816, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 816, "end_frame": 933, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 933, "end_frame": 1040, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1040, "end_frame": 1164, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1164, "end_frame": 1308, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1308, "end_frame": 1435, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1435, "end_frame": 1619, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1619, "end_frame": 1776, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1776, "end_frame": 1893, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1893, "end_frame": 2050, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2050, "end_frame": 2465, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2465, "end_frame": 2595, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2595, "end_frame": 2786, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 688590, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 474, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 474, "end_frame": 667, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 667, "end_frame": 789, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 789, "end_frame": 922, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 922, "end_frame": 1042, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1042, "end_frame": 1191, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1191, "end_frame": 1304, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1304, "end_frame": 1450, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1450, "end_frame": 1592, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1592, "end_frame": 1798, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1798, "end_frame": 1970, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1970, "end_frame": 2083, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2083, "end_frame": 2262, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2262, "end_frame": 2833, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2833, "end_frame": 2952, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2952, "end_frame": 3161, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [ { "start": 2262, "end": 2833, "description": "" } ] } }, { "episode_id": 688618, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 399, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 399, "end_frame": 522, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 522, "end_frame": 665, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 665, "end_frame": 792, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 792, "end_frame": 892, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 892, "end_frame": 1021, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1021, "end_frame": 1138, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1138, "end_frame": 1287, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1287, "end_frame": 1414, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1414, "end_frame": 1600, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1600, "end_frame": 1757, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1757, "end_frame": 1890, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1890, "end_frame": 2046, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2046, "end_frame": 2479, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2479, "end_frame": 2605, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2605, "end_frame": 2818, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 688645, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view 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arm.", "skill": "Press" }, { "start_frame": 2697, "end_frame": 2903, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 688701, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 413, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 413, "end_frame": 522, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 522, "end_frame": 645, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 645, "end_frame": 755, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 755, "end_frame": 898, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 898, "end_frame": 1005, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1005, "end_frame": 1144, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1144, "end_frame": 1268, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1268, "end_frame": 1384, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1384, "end_frame": 1567, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1567, "end_frame": 1717, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1717, "end_frame": 1833, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1833, "end_frame": 1976, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1976, "end_frame": 2432, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2432, "end_frame": 2578, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2578, "end_frame": 2771, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 688728, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, 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"end_frame": 1311, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1311, "end_frame": 1447, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1447, "end_frame": 1623, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1623, "end_frame": 1788, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1788, "end_frame": 1915, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1915, "end_frame": 2044, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2044, "end_frame": 2475, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2475, "end_frame": 2598, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2598, "end_frame": 2794, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 688768, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 434, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 434, "end_frame": 561, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 561, "end_frame": 704, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 704, "end_frame": 837, "action_text": "Place 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"Pick" }, { "start_frame": 1261, "end_frame": 1400, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1400, "end_frame": 1586, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1586, "end_frame": 1745, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1745, "end_frame": 1861, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1861, "end_frame": 1988, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1988, "end_frame": 2349, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2349, "end_frame": 2492, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2492, "end_frame": 2681, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 688829, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 450, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 450, "end_frame": 579, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 579, "end_frame": 715, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 715, "end_frame": 834, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 834, "end_frame": 947, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 947, "end_frame": 1086, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1086, "end_frame": 1242, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1242, "end_frame": 1411, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1411, "end_frame": 1527, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1527, "end_frame": 1725, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1725, "end_frame": 1884, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1884, "end_frame": 2003, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2003, "end_frame": 2142, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2142, "end_frame": 2639, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2639, "end_frame": 2772, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2772, "end_frame": 2964, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 688902, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 435, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 435, "end_frame": 591, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 591, "end_frame": 720, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 720, "end_frame": 850, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 850, "end_frame": 1006, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1006, "end_frame": 1126, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1126, "end_frame": 1248, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1248, "end_frame": 1438, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1438, "end_frame": 1554, "action_text": "Pass the 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"task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 411, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 411, "end_frame": 530, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 530, "end_frame": 653, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 653, "end_frame": 745, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 745, "end_frame": 891, "action_text": "Grasp the spoon with the 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{ "start_frame": 2060, "end_frame": 2464, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2464, "end_frame": 2617, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2617, "end_frame": 2802, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 689160, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 377, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { 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1564, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1564, "end_frame": 1713, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1713, "end_frame": 1819, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1819, "end_frame": 1951, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1951, "end_frame": 2368, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2368, "end_frame": 2491, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2491, "end_frame": 2686, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 689189, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 424, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 424, "end_frame": 550, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 550, "end_frame": 677, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 677, "end_frame": 803, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 803, "end_frame": 932, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 932, "end_frame": 1061, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1061, "end_frame": 1250, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1250, "end_frame": 1419, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1419, "end_frame": 1555, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1555, "end_frame": 1734, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1734, "end_frame": 1877, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1877, "end_frame": 2010, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2010, "end_frame": 2139, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2139, "end_frame": 2570, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2570, "end_frame": 2709, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2709, "end_frame": 2885, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [ { "start": 1061, "end": 1250, "description": "" } ] } }, { "episode_id": 689219, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 391, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 391, "end_frame": 538, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 538, "end_frame": 653, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 653, "end_frame": 757, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 757, "end_frame": 890, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 890, "end_frame": 980, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 980, "end_frame": 1181, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1181, "end_frame": 1321, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1321, "end_frame": 1432, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1432, "end_frame": 1630, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1630, "end_frame": 1852, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1852, "end_frame": 1946, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1946, "end_frame": 2078, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2078, "end_frame": 2466, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2466, "end_frame": 2585, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2585, "end_frame": 2782, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [ { "start": 1630, "end": 1850, "description": "" } ] } }, { "episode_id": 689261, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 377, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 377, "end_frame": 527, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 527, "end_frame": 660, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 660, "end_frame": 814, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 814, "end_frame": 926, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 926, "end_frame": 1022, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1022, "end_frame": 1159, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1159, "end_frame": 1292, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1292, "end_frame": 1399, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1399, "end_frame": 1596, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1596, "end_frame": 1765, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1765, "end_frame": 1851, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1851, "end_frame": 1998, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1998, "end_frame": 2447, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2447, "end_frame": 2572, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2572, "end_frame": 2773, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 689431, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 422, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 422, "end_frame": 538, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 538, "end_frame": 658, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 658, "end_frame": 791, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 791, "end_frame": 904, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 904, "end_frame": 1043, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1043, "end_frame": 1166, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1166, "end_frame": 1299, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1299, "end_frame": 1419, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1419, "end_frame": 1658, "action_text": "Place the bowl in 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to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 467, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 467, "end_frame": 604, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 604, "end_frame": 754, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 754, "end_frame": 874, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 874, "end_frame": 1018, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1018, "end_frame": 1134, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1134, "end_frame": 1265, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1265, "end_frame": 1408, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1408, "end_frame": 1538, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1538, "end_frame": 1815, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1815, "end_frame": 1999, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1999, "end_frame": 2152, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2152, "end_frame": 2342, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2342, "end_frame": 2799, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2799, "end_frame": 2936, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2936, "end_frame": 3126, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 692438, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 415, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 415, "end_frame": 528, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 528, "end_frame": 637, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 637, "end_frame": 830, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 830, "end_frame": 962, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 962, "end_frame": 1088, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1088, "end_frame": 1297, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1297, "end_frame": 1437, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1437, "end_frame": 1550, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1550, "end_frame": 1788, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1788, "end_frame": 1948, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1948, "end_frame": 2074, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2074, "end_frame": 2290, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2290, "end_frame": 2741, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2741, "end_frame": 2874, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2874, "end_frame": 3142, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 692609, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the 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the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1311, "end_frame": 1435, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1435, "end_frame": 1635, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1635, "end_frame": 1848, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1848, "end_frame": 1959, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1959, "end_frame": 2115, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2115, "end_frame": 2316, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2316, "end_frame": 2709, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2709, "end_frame": 2793, "action_text": "Press the dishwasher lid 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"skill": "HandOver" }, { "start_frame": 659, "end_frame": 788, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 788, "end_frame": 922, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 922, "end_frame": 1035, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1035, "end_frame": 1174, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1174, "end_frame": 1324, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1324, "end_frame": 1464, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1464, "end_frame": 1743, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1743, "end_frame": 1953, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1953, "end_frame": 2059, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2059, "end_frame": 2256, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2256, "end_frame": 2671, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2671, "end_frame": 2818, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2818, "end_frame": 3011, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 693775, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, 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"action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 693811, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 465, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 465, "end_frame": 596, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 596, "end_frame": 764, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 764, "end_frame": 924, "action_text": "Place 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"skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 697144, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 703, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 703, "end_frame": 935, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 935, "end_frame": 1352, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1352, "end_frame": 1699, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" 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"" } ] } }, { "episode_id": 699792, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 826, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 826, "end_frame": 1088, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 1088, "end_frame": 1440, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1440, "end_frame": 1786, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1786, "end_frame": 1983, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1983, "end_frame": 2335, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 2335, "end_frame": 2783, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2783, "end_frame": 3055, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 3055, "end_frame": 3482, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 3482, "end_frame": 3929, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3929, "end_frame": 4116, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 4116, "end_frame": 4377, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 4377, "end_frame": 4591, "action_text": "Place the 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"episode_id": 711086, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 809, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 809, "end_frame": 1042, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 1042, "end_frame": 1465, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1465, "end_frame": 1720, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1720, "end_frame": 1961, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1961, "end_frame": 2289, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 2289, "end_frame": 2581, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2581, "end_frame": 2756, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 2756, "end_frame": 3113, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 3113, "end_frame": 3587, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3587, "end_frame": 3762, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 3762, "end_frame": 4061, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 4061, "end_frame": 4381, "action_text": "Place the plate in the 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"skill": "HandOver" }, { "start_frame": 3190, "end_frame": 3724, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3724, "end_frame": 3920, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 3920, "end_frame": 4236, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 4236, "end_frame": 4537, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 4537, "end_frame": 5034, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 5034, "end_frame": 5167, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 5167, "end_frame": 5306, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 711195, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 795, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 795, "end_frame": 1080, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 1080, "end_frame": 1603, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1603, "end_frame": 1815, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1815, "end_frame": 2073, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 2073, "end_frame": 2365, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 2365, "end_frame": 2649, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2649, "end_frame": 2828, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 2828, "end_frame": 3206, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 3206, "end_frame": 3669, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3669, "end_frame": 3901, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 3901, "end_frame": 4173, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 4173, "end_frame": 4464, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 4464, "end_frame": 5067, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 5067, "end_frame": 5226, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 5226, "end_frame": 5344, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 711358, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 806, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 806, "end_frame": 1019, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 1019, "end_frame": 1498, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1498, "end_frame": 1773, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1773, "end_frame": 2029, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 2029, "end_frame": 2423, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 2423, "end_frame": 2712, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2712, "end_frame": 2906, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 2906, "end_frame": 3290, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 3290, "end_frame": 3987, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3987, "end_frame": 4149, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 4149, "end_frame": 4452, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 4452, "end_frame": 4765, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 4765, "end_frame": 5324, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 5324, "end_frame": 5448, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 5448, "end_frame": 5579, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 711489, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 776, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 776, "end_frame": 1029, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 1029, "end_frame": 1449, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1449, "end_frame": 1710, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1710, "end_frame": 1971, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1971, "end_frame": 2272, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 2272, "end_frame": 2628, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2628, "end_frame": 2842, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 2842, "end_frame": 3237, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 3237, "end_frame": 3942, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3942, "end_frame": 4132, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 4132, "end_frame": 4464, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 4464, "end_frame": 4741, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 4741, "end_frame": 5335, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 5335, "end_frame": 5430, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 5430, "end_frame": 5582, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 711547, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 780, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 780, "end_frame": 1031, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 1031, "end_frame": 1399, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1399, "end_frame": 1634, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1634, "end_frame": 1862, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1862, "end_frame": 2179, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 2179, "end_frame": 2466, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2466, "end_frame": 2635, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 2635, "end_frame": 2974, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 2974, "end_frame": 3636, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3636, "end_frame": 3820, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 3820, "end_frame": 4159, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 4159, "end_frame": 4417, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 4417, "end_frame": 4947, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 4947, "end_frame": 5072, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 5072, "end_frame": 5191, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 711742, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 781, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 781, "end_frame": 1016, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 1016, "end_frame": 1433, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1433, "end_frame": 1706, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1706, "end_frame": 1933, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1933, "end_frame": 2320, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 2320, "end_frame": 2623, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2623, "end_frame": 2813, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 2813, "end_frame": 3169, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 3169, "end_frame": 3746, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3746, "end_frame": 3935, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 3935, "end_frame": 4238, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 4238, "end_frame": 4517, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 4517, "end_frame": 5042, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 5042, "end_frame": 5179, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 5179, "end_frame": 5347, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 711818, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 736, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 736, "end_frame": 1276, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 1276, "end_frame": 1472, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1472, "end_frame": 1717, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1717, "end_frame": 2257, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 2257, "end_frame": 2453, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 2453, "end_frame": 2698, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2698, "end_frame": 3238, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 3238, "end_frame": 3483, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 3483, "end_frame": 3679, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3679, "end_frame": 4219, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 4219, "end_frame": 4415, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 4415, "end_frame": 4660, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 4660, "end_frame": 5237, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 5237, "end_frame": 5347, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 5347, "end_frame": 5462, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 711874, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 891, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 891, "end_frame": 1123, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 1123, "end_frame": 1557, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1557, "end_frame": 1766, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1766, "end_frame": 2009, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 2009, "end_frame": 2347, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 2347, "end_frame": 2697, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2697, "end_frame": 2872, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 2872, "end_frame": 3267, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 3267, "end_frame": 3724, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3724, "end_frame": 3893, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 3893, "end_frame": 4192, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 4192, "end_frame": 4463, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 4463, "end_frame": 5134, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 5134, "end_frame": 5264, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 5264, "end_frame": 5365, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 711918, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 34, "end_frame": 688, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 688, "end_frame": 912, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 912, "end_frame": 1350, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1350, "end_frame": 1566, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1566, "end_frame": 1798, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1798, "end_frame": 2155, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 2155, "end_frame": 2475, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2475, "end_frame": 2679, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 2679, "end_frame": 3195, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 3195, "end_frame": 3518, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3518, "end_frame": 3677, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 3677, "end_frame": 3978, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 3978, "end_frame": 4211, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 4211, "end_frame": 4815, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 4815, "end_frame": 4929, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 4929, "end_frame": 5028, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 711977, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 722, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 722, "end_frame": 925, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 925, "end_frame": 1356, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1356, "end_frame": 1574, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1574, "end_frame": 1782, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1782, "end_frame": 2109, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 2109, "end_frame": 2374, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2374, "end_frame": 2567, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 2567, "end_frame": 2946, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 2946, "end_frame": 3403, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3403, "end_frame": 3549, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 3549, "end_frame": 3855, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 3855, "end_frame": 4141, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 4141, "end_frame": 4733, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 4733, "end_frame": 4853, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 4853, "end_frame": 4941, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 712044, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 737, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 737, "end_frame": 946, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 946, "end_frame": 1349, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1349, "end_frame": 1592, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1592, "end_frame": 1780, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1780, "end_frame": 2072, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 2072, "end_frame": 2385, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2385, "end_frame": 2566, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 2566, "end_frame": 2948, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 2948, "end_frame": 3407, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3407, "end_frame": 3560, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 3560, "end_frame": 3824, "action_text": "Pass the plate with 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entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 814, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 814, "end_frame": 1043, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 1043, "end_frame": 1410, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1410, "end_frame": 1687, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1687, "end_frame": 1948, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1948, "end_frame": 2262, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 2262, "end_frame": 2554, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2554, "end_frame": 2735, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 2735, "end_frame": 3113, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 3113, "end_frame": 3539, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3539, "end_frame": 3709, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 3709, "end_frame": 3959, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 3959, "end_frame": 4231, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 4231, "end_frame": 4827, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 4827, "end_frame": 4949, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 4949, "end_frame": 5050, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 712115, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 809, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 809, "end_frame": 1037, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 1037, "end_frame": 1458, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1458, "end_frame": 1666, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1666, "end_frame": 1866, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1866, "end_frame": 2228, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 2228, "end_frame": 2535, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2535, "end_frame": 2723, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 2723, "end_frame": 3137, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 3137, "end_frame": 3686, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3686, "end_frame": 3853, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 3853, "end_frame": 4174, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 4174, "end_frame": 4428, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 4428, "end_frame": 5077, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 5077, "end_frame": 5184, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 5184, "end_frame": 5318, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 712144, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 750, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 750, "end_frame": 1006, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 1006, "end_frame": 1404, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1404, "end_frame": 1641, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1641, "end_frame": 1852, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1852, "end_frame": 2185, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 2185, "end_frame": 2500, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2500, "end_frame": 2705, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 2705, "end_frame": 3057, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 3057, "end_frame": 3512, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3512, "end_frame": 3717, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 3717, "end_frame": 3980, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 3980, "end_frame": 4288, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 4288, "end_frame": 4921, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 4921, "end_frame": 5037, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 5037, "end_frame": 5171, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 712169, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 789, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 789, "end_frame": 984, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 984, "end_frame": 1373, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1373, "end_frame": 1606, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1606, "end_frame": 1838, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1838, "end_frame": 2130, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 2130, "end_frame": 2465, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2465, "end_frame": 2665, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 2665, "end_frame": 3017, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 3017, "end_frame": 3509, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3509, "end_frame": 3698, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 3698, "end_frame": 3957, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 3957, "end_frame": 4211, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 4211, "end_frame": 4887, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 4887, "end_frame": 5017, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 5017, "end_frame": 5136, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 712200, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 55, "end_frame": 826, "action_text": "Lift the dishwasher lid with both arms.", 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"start_frame": 3258, "end_frame": 3793, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3793, "end_frame": 3978, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 3978, "end_frame": 4287, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 4287, "end_frame": 4573, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 4573, "end_frame": 5141, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 5141, "end_frame": 5279, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 5279, "end_frame": 5413, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 712228, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 809, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 809, "end_frame": 1017, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 1017, "end_frame": 1431, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1431, "end_frame": 1625, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1625, "end_frame": 1846, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1846, "end_frame": 2169, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 2169, "end_frame": 2487, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2487, "end_frame": 2668, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 2668, "end_frame": 3031, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 3031, "end_frame": 3549, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3549, "end_frame": 3717, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 3717, "end_frame": 3983, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 3983, "end_frame": 4268, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 4268, "end_frame": 4876, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 4876, "end_frame": 5032, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 5032, "end_frame": 5225, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 712296, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 802, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 802, "end_frame": 1006, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 1006, "end_frame": 1388, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1388, "end_frame": 1592, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1592, "end_frame": 1802, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1802, "end_frame": 2095, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 2095, "end_frame": 2414, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2414, "end_frame": 2598, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 2598, "end_frame": 2974, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 2974, "end_frame": 3381, 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lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 767, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 767, "end_frame": 970, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 970, "end_frame": 1424, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1424, "end_frame": 1629, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1629, "end_frame": 1835, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1835, "end_frame": 2153, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 2153, "end_frame": 2509, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2509, "end_frame": 2712, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 2712, "end_frame": 3073, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 3073, "end_frame": 3621, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3621, "end_frame": 3824, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 3824, "end_frame": 4082, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 4082, "end_frame": 4361, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 4361, "end_frame": 4958, "action_text": "Pull down the dishwasher lid 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"Place" }, { "start_frame": 3362, "end_frame": 3554, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 3554, "end_frame": 3859, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 3859, "end_frame": 4289, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 4289, "end_frame": 5010, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 5010, "end_frame": 5149, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 5149, "end_frame": 5340, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [ { "start": 4289, "end": 5010, "description": "" } ] } }, { "episode_id": 712375, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 66, "end_frame": 784, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 784, "end_frame": 985, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 985, "end_frame": 1384, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1384, "end_frame": 1563, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1563, "end_frame": 1791, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1791, "end_frame": 2102, "action_text": "Pass the spoon with both 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"Pull" }, { "start_frame": 4860, "end_frame": 4982, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 4982, "end_frame": 5101, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 712399, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 761, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 761, "end_frame": 997, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 997, "end_frame": 1367, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1367, "end_frame": 1571, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1571, "end_frame": 1791, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1791, "end_frame": 2127, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 2127, "end_frame": 2474, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2474, "end_frame": 2678, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 2678, "end_frame": 3009, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 3009, "end_frame": 3477, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3477, "end_frame": 3703, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 3703, "end_frame": 4012, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 4012, "end_frame": 4277, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 4277, "end_frame": 4960, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 4960, "end_frame": 5109, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 5109, "end_frame": 5230, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 712420, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 70, "end_frame": 804, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 804, "end_frame": 1054, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 1054, "end_frame": 1491, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1491, "end_frame": 1700, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1700, "end_frame": 1923, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1923, "end_frame": 2253, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 2253, "end_frame": 2546, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2546, "end_frame": 2727, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 2727, "end_frame": 3103, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 3103, "end_frame": 3814, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3814, "end_frame": 3995, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 3995, "end_frame": 4320, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 4320, "end_frame": 4552, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 4552, "end_frame": 5175, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 5175, "end_frame": 5309, "action_text": "Press 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"skill": "Place" }, { "start_frame": 2333, "end_frame": 2547, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 2547, "end_frame": 2917, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 2917, "end_frame": 3354, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3354, "end_frame": 3547, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 3547, "end_frame": 3828, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 3828, "end_frame": 4099, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 4099, "end_frame": 4635, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 4635, "end_frame": 4802, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 4802, "end_frame": 4927, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 712494, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 731, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 731, "end_frame": 981, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 981, "end_frame": 1366, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1366, "end_frame": 1584, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1584, "end_frame": 1789, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1789, "end_frame": 2091, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 2091, "end_frame": 2431, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2431, "end_frame": 2630, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 2630, "end_frame": 3053, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 3053, "end_frame": 3592, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3592, "end_frame": 3765, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 3765, "end_frame": 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objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 738, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 738, "end_frame": 946, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 946, "end_frame": 1330, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1330, "end_frame": 1537, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1537, "end_frame": 1720, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1720, "end_frame": 2044, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 2044, "end_frame": 2343, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2343, "end_frame": 2519, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 2519, "end_frame": 2861, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 2861, "end_frame": 3337, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3337, "end_frame": 3538, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 3538, "end_frame": 3813, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 3813, "end_frame": 4087, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 4087, "end_frame": 4661, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 4661, "end_frame": 4790, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 4790, "end_frame": 4922, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 712532, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 714, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 714, "end_frame": 933, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 933, "end_frame": 1342, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1342, "end_frame": 1581, "action_text": "Place the chopsticks held in 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"HandOver" }, { "start_frame": 4074, "end_frame": 4346, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 4346, "end_frame": 4892, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 4892, "end_frame": 5023, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 5023, "end_frame": 5208, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 712552, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", 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"Pick" }, { "start_frame": 2602, "end_frame": 2997, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 2997, "end_frame": 3405, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3405, "end_frame": 3643, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 3643, "end_frame": 3919, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 3919, "end_frame": 4232, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 4232, "end_frame": 4784, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 4784, "end_frame": 4928, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 4928, "end_frame": 5059, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 712687, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 715, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 715, "end_frame": 936, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 936, "end_frame": 1384, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1384, "end_frame": 1624, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1624, "end_frame": 1831, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1831, "end_frame": 2172, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 2172, "end_frame": 2547, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2547, "end_frame": 2714, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 2714, "end_frame": 3122, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 3122, "end_frame": 3610, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3610, "end_frame": 3790, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 3790, "end_frame": 4131, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 4131, "end_frame": 4385, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 4385, "end_frame": 4980, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 4980, "end_frame": 5147, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 5147, "end_frame": 5314, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 712707, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 730, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 730, "end_frame": 1099, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 1099, "end_frame": 1382, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1382, "end_frame": 1614, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1614, "end_frame": 1910, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1910, "end_frame": 2159, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 2159, "end_frame": 2455, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2455, "end_frame": 2679, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 2679, "end_frame": 3018, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 3018, "end_frame": 3468, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3468, "end_frame": 3679, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 3679, "end_frame": 3923, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 3923, "end_frame": 4159, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 4159, "end_frame": 4687, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 4687, "end_frame": 4782, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 4782, "end_frame": 4911, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 712726, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 743, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 743, "end_frame": 1005, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 1005, "end_frame": 1362, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 1362, "end_frame": 1700, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 1700, "end_frame": 1968, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1968, "end_frame": 2294, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 2294, "end_frame": 2513, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2513, "end_frame": 2684, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 2684, "end_frame": 3074, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 3074, "end_frame": 3561, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 3561, "end_frame": 3716, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 3716, "end_frame": 4037, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 4037, "end_frame": 4283, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 4283, "end_frame": 4858, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 4858, "end_frame": 4951, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 4951, "end_frame": 5090, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 708422, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 402, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 402, "end_frame": 558, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 558, "end_frame": 718, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 718, "end_frame": 874, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 874, "end_frame": 991, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 991, "end_frame": 1146, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1146, "end_frame": 1285, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1285, "end_frame": 1393, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1393, "end_frame": 1562, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1562, "end_frame": 1817, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1817, "end_frame": 1925, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1925, "end_frame": 2072, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2072, "end_frame": 2306, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2306, "end_frame": 2790, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2790, "end_frame": 2903, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2903, "end_frame": 3080, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 708447, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 342, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 342, "end_frame": 506, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 506, "end_frame": 664, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 664, "end_frame": 839, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 839, "end_frame": 944, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 944, "end_frame": 1095, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1095, "end_frame": 1250, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1250, "end_frame": 1354, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1354, "end_frame": 1545, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1545, "end_frame": 1747, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1747, "end_frame": 1857, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1857, "end_frame": 2006, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2006, "end_frame": 2197, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2197, "end_frame": 2628, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2628, "end_frame": 2741, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2741, "end_frame": 2905, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 708475, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 17, "end_frame": 461, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 461, "end_frame": 601, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 601, "end_frame": 758, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 758, "end_frame": 886, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 886, "end_frame": 994, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 994, "end_frame": 1140, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1140, "end_frame": 1330, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1330, "end_frame": 1423, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1423, "end_frame": 1609, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1609, "end_frame": 1843, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1843, "end_frame": 1948, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1948, "end_frame": 2091, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2091, "end_frame": 2370, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2370, "end_frame": 2825, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2825, "end_frame": 2954, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2954, "end_frame": 3129, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 708498, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 423, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 423, "end_frame": 559, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 559, "end_frame": 717, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 717, "end_frame": 882, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 882, "end_frame": 972, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 972, "end_frame": 1155, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1155, "end_frame": 1288, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1288, "end_frame": 1384, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1384, "end_frame": 1574, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1574, "end_frame": 1790, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1790, "end_frame": 1894, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1894, "end_frame": 2055, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2055, "end_frame": 2274, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2274, "end_frame": 2765, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2765, "end_frame": 2866, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2866, "end_frame": 3045, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 708516, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 398, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 398, "end_frame": 543, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 543, "end_frame": 731, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 731, "end_frame": 836, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 836, "end_frame": 944, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 944, "end_frame": 1098, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1098, "end_frame": 1240, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1240, "end_frame": 1338, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1338, "end_frame": 1520, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1520, "end_frame": 1699, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1699, "end_frame": 1807, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1807, "end_frame": 1958, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 1958, "end_frame": 2174, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2174, "end_frame": 2581, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2581, "end_frame": 2702, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2702, "end_frame": 2874, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 708533, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 496, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 496, "end_frame": 638, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 638, "end_frame": 802, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 802, "end_frame": 922, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 922, "end_frame": 1043, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1043, "end_frame": 1185, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1185, "end_frame": 1319, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1319, "end_frame": 1422, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1422, "end_frame": 1582, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1582, "end_frame": 1788, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1788, "end_frame": 1892, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1892, "end_frame": 2025, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2025, "end_frame": 2202, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2202, "end_frame": 2650, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2650, "end_frame": 2758, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2758, "end_frame": 2930, "action_text": "Press the button with the left arm to start the dishwasher.", "skill": "Tap" } ], "key_frame": [] } }, { "episode_id": 708551, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 425, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 425, "end_frame": 600, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 600, "end_frame": 771, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 771, "end_frame": 963, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 963, "end_frame": 1068, "action_text": "Grasp the spoon with the right arm.", "skill": "Pick" }, { "start_frame": 1068, "end_frame": 1214, "action_text": "Pass the spoon with both hands.", "skill": "HandOver" }, { "start_frame": 1214, "end_frame": 1406, "action_text": "Place the spoon in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1406, "end_frame": 1511, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1511, "end_frame": 1682, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1682, "end_frame": 1904, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1904, "end_frame": 2026, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 2026, 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1412, "action_text": "Lift the bowl with the right arm.", "skill": "Pick" }, { "start_frame": 1412, "end_frame": 1608, "action_text": "Pass the bowl with both hands.", "skill": "HandOver" }, { "start_frame": 1608, "end_frame": 1810, "action_text": "Place the bowl in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 1810, "end_frame": 1929, "action_text": "Lift the plate with the right arm.", "skill": "Pick" }, { "start_frame": 1929, "end_frame": 2074, "action_text": "Pass the plate with both hands.", "skill": "HandOver" }, { "start_frame": 2074, "end_frame": 2291, "action_text": "Place the plate in the dishwasher with the left arm.", "skill": "Place" }, { "start_frame": 2291, "end_frame": 2697, "action_text": "Pull down the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 2697, "end_frame": 2819, "action_text": "Press the dishwasher lid with the left arm.", "skill": "Press" }, { "start_frame": 2819, "end_frame": 2973, "action_text": "Press the 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"key_frame": [] } }, { "episode_id": 708615, "task_id": 357, "task_name": "Wash dishes with dishwasher", "init_scene_text": "Initial position: The dishwasher lid is slightly ajar, with objects to be cleaned placed in the right sink;\nStarting state: Hands are within the field of view of the head;\nThe placement of initial operation items and environmental items, as well as the arrangement of objects inside the dishwasher, changes every 30 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 404, "action_text": "Lift the dishwasher lid with both arms.", "skill": "Pull" }, { "start_frame": 404, "end_frame": 529, "action_text": "Grasp the chopsticks with the right arm.", "skill": "Pick" }, { "start_frame": 529, "end_frame": 745, "action_text": "Pass the chopsticks with both hands.", "skill": "HandOver" }, { "start_frame": 745, "end_frame": 876, "action_text": "Place the chopsticks held in the left arm into the dishwasher.", "skill": "Place" }, { "start_frame": 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