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951, "end_frame": 1115, "action_text": "Place the lipstick held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 655957, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 249, "action_text": "Retrieve hair conditioner from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 249, "end_frame": 484, "action_text": "Place the hair conditioner held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 484, "end_frame": 846, "action_text": "Retrieve lipstick from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 846, "end_frame": 1102, "action_text": "Pass the lipstick with both hands.", "skill": "HandOver" }, { "start_frame": 1102, "end_frame": 1323, "action_text": "Place the lipstick held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 656014, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 250, "action_text": "Retrieve hair conditioner from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 250, "end_frame": 502, "action_text": "Place the hair conditioner held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 502, "end_frame": 932, "action_text": "Retrieve lipstick from right material frame with the right 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873, "action_text": "Retrieve lipstick from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 873, "end_frame": 1128, "action_text": "Pass the lipstick with both hands.", "skill": "HandOver" }, { "start_frame": 1128, "end_frame": 1341, "action_text": "Place the lipstick held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 656446, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 262, "action_text": "Retrieve hair conditioner from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 262, "end_frame": 500, "action_text": "Place the hair conditioner held in the left arm into the blue 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"Place the lipstick held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 656692, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 360, "action_text": "Retrieve hair conditioner from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 360, "end_frame": 694, "action_text": "Place the hair conditioner held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 694, "end_frame": 902, "action_text": "Retrieve lipstick from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 902, "end_frame": 1076, "action_text": "Pass the lipstick with both hands.", 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"start_frame": 526, "end_frame": 757, "action_text": "Retrieve lipstick from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 757, "end_frame": 975, "action_text": "Pass the lipstick with both hands.", "skill": "HandOver" }, { "start_frame": 975, "end_frame": 1101, "action_text": "Place the lipstick held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694591, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 362, "action_text": "Retrieve hair conditioner from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 362, "end_frame": 559, "action_text": "Place the hair conditioner held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 559, "end_frame": 798, "action_text": "Retrieve lipstick from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 798, "end_frame": 972, "action_text": "Pass the lipstick with both hands.", "skill": "HandOver" }, { "start_frame": 972, "end_frame": 1095, "action_text": "Place the lipstick held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694601, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 60, "end_frame": 448, "action_text": "Retrieve hair conditioner from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 448, "end_frame": 612, "action_text": "Place the hair conditioner held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 612, "end_frame": 834, "action_text": "Retrieve lipstick from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 834, "end_frame": 975, "action_text": "Pass the lipstick with both hands.", "skill": "HandOver" }, { "start_frame": 975, "end_frame": 1090, "action_text": "Place the lipstick held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694613, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 350, "action_text": "Retrieve hair conditioner from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 350, "end_frame": 502, "action_text": "Place the hair conditioner held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 502, "end_frame": 766, "action_text": "Retrieve lipstick from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 766, "end_frame": 952, "action_text": "Pass the lipstick with both hands.", "skill": "HandOver" }, { "start_frame": 952, "end_frame": 1126, "action_text": "Place the lipstick held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694623, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 326, "action_text": "Retrieve hair conditioner from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 326, "end_frame": 474, "action_text": "Place the hair conditioner held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 474, "end_frame": 736, "action_text": "Retrieve lipstick from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 736, "end_frame": 910, "action_text": "Pass the lipstick with both hands.", "skill": "HandOver" }, { "start_frame": 910, "end_frame": 1056, "action_text": "Place the lipstick held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694634, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 330, "action_text": "Retrieve hair conditioner from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 330, "end_frame": 503, "action_text": "Place the hair conditioner held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 503, "end_frame": 728, "action_text": "Retrieve lipstick from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 728, "end_frame": 905, "action_text": "Pass the lipstick with both hands.", "skill": "HandOver" }, { "start_frame": 905, "end_frame": 1021, "action_text": "Place the lipstick held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694648, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 324, "action_text": "Retrieve hair conditioner from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 324, "end_frame": 524, "action_text": "Place the hair conditioner held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 524, "end_frame": 748, "action_text": "Retrieve lipstick from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 748, "end_frame": 924, "action_text": "Pass the lipstick with both hands.", "skill": "HandOver" }, { "start_frame": 924, "end_frame": 1046, "action_text": "Place the lipstick held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694658, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 377, "action_text": "Retrieve hair conditioner from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 377, "end_frame": 562, "action_text": "Place the hair conditioner held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 562, "end_frame": 823, "action_text": "Retrieve lipstick from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 823, "end_frame": 969, "action_text": "Pass the lipstick with both hands.", "skill": "HandOver" }, { "start_frame": 969, "end_frame": 1107, "action_text": "Place the lipstick held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694674, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 317, "action_text": "Retrieve hair conditioner from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 317, "end_frame": 477, "action_text": "Place the hair conditioner held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 477, "end_frame": 704, "action_text": "Retrieve lipstick from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 704, "end_frame": 911, "action_text": "Pass the lipstick with both hands.", "skill": "HandOver" }, { "start_frame": 911, "end_frame": 1050, "action_text": "Place the lipstick held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694688, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 40, "end_frame": 370, "action_text": "Retrieve hair conditioner from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 370, "end_frame": 550, "action_text": "Place the hair conditioner held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 550, "end_frame": 777, "action_text": "Retrieve lipstick from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 777, "end_frame": 944, "action_text": "Pass the lipstick with both hands.", "skill": "HandOver" }, { "start_frame": 944, "end_frame": 1074, "action_text": "Place the lipstick held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694703, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 302, "action_text": "Retrieve hair conditioner from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 302, "end_frame": 543, "action_text": "Place the hair conditioner held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 543, "end_frame": 765, "action_text": "Retrieve lipstick from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 765, "end_frame": 936, "action_text": "Pass the lipstick with both hands.", "skill": "HandOver" }, { "start_frame": 936, "end_frame": 1068, "action_text": "Place the lipstick held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694722, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 45, "end_frame": 347, "action_text": "Retrieve hair conditioner from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 347, "end_frame": 483, "action_text": "Place the hair conditioner held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 483, "end_frame": 689, "action_text": "Retrieve lipstick from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 689, "end_frame": 884, "action_text": "Pass the lipstick with both hands.", "skill": "HandOver" }, { "start_frame": 884, "end_frame": 1001, "action_text": "Place the lipstick held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694732, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 323, "action_text": "Retrieve hair conditioner from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 323, "end_frame": 582, "action_text": "Place the hair conditioner held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 582, "end_frame": 788, "action_text": "Retrieve lipstick from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 788, "end_frame": 958, "action_text": "Pass the lipstick with both hands.", "skill": "HandOver" }, { "start_frame": 958, "end_frame": 1067, "action_text": "Place the lipstick held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694742, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 41, "end_frame": 352, "action_text": "Retrieve hair conditioner from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 352, "end_frame": 491, "action_text": "Place the hair conditioner held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 491, "end_frame": 721, "action_text": "Retrieve lipstick from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 721, "end_frame": 924, "action_text": "Pass the lipstick with both hands.", "skill": "HandOver" }, { "start_frame": 924, "end_frame": 1073, "action_text": "Place the lipstick held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694756, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 350, "action_text": "Retrieve hair conditioner from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 350, "end_frame": 557, "action_text": "Place the hair conditioner held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 557, "end_frame": 793, "action_text": "Retrieve lipstick from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 793, "end_frame": 948, "action_text": "Pass the lipstick with both hands.", "skill": "HandOver" }, { "start_frame": 948, "end_frame": 1105, "action_text": "Place the lipstick held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694770, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 334, "action_text": "Retrieve hair conditioner from bottom left of the material frame 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"action_text": "Retrieve hair conditioner from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 345, "end_frame": 533, "action_text": "Place the hair conditioner held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 533, "end_frame": 781, "action_text": "Retrieve lipstick from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 781, "end_frame": 966, "action_text": "Pass the lipstick with both hands.", "skill": "HandOver" }, { "start_frame": 966, "end_frame": 1080, "action_text": "Place the lipstick held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694788, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 303, "action_text": "Retrieve hair conditioner from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 303, "end_frame": 485, "action_text": "Place the hair conditioner held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 485, "end_frame": 735, "action_text": "Retrieve lipstick from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 735, "end_frame": 895, "action_text": "Pass the lipstick with both hands.", "skill": "HandOver" }, { "start_frame": 895, "end_frame": 1075, "action_text": "Place the lipstick held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694804, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 277, "action_text": "Retrieve hair conditioner from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 277, "end_frame": 491, "action_text": "Place the hair conditioner held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 491, "end_frame": 722, "action_text": "Retrieve lipstick from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 722, "end_frame": 890, "action_text": "Pass the lipstick with both hands.", "skill": "HandOver" }, { "start_frame": 890, "end_frame": 1040, "action_text": "Place the lipstick held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694814, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 293, "action_text": "Retrieve hair conditioner from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 293, "end_frame": 467, "action_text": "Place the hair conditioner held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 467, "end_frame": 662, "action_text": "Retrieve lipstick from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 662, "end_frame": 820, "action_text": "Pass the lipstick with both hands.", "skill": "HandOver" }, { "start_frame": 820, "end_frame": 946, "action_text": "Place the lipstick held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694839, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 284, "action_text": "Retrieve hair conditioner from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 284, "end_frame": 452, "action_text": "Place the hair conditioner held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 452, "end_frame": 687, "action_text": "Retrieve lipstick from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 687, "end_frame": 859, "action_text": "Pass the lipstick with both hands.", "skill": "HandOver" }, { "start_frame": 859, "end_frame": 993, "action_text": "Place the lipstick held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 652083, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 265, "action_text": "Retrieve whitening toothpaste from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 265, "end_frame": 396, "action_text": "Place the whitening toothpaste held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 396, "end_frame": 521, "action_text": "Retrieve yellow hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 521, "end_frame": 786, "action_text": "Pass the yellow hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 786, "end_frame": 1003, "action_text": "Place the yellow hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 652126, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 413, "action_text": "Retrieve whitening toothpaste from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 413, "end_frame": 548, "action_text": "Place the whitening toothpaste held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 548, "end_frame": 723, "action_text": "Retrieve yellow hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 723, "end_frame": 970, "action_text": "Pass the yellow hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 970, "end_frame": 1181, "action_text": "Place the yellow hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 652145, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 318, "action_text": "Retrieve whitening toothpaste from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 318, "end_frame": 422, "action_text": "Place the whitening toothpaste held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 422, "end_frame": 575, "action_text": "Retrieve yellow hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 575, "end_frame": 795, "action_text": "Pass the yellow hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 795, "end_frame": 966, "action_text": "Place the yellow hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 652156, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 385, "action_text": "Retrieve whitening toothpaste from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 385, "end_frame": 555, "action_text": "Place the whitening toothpaste held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 555, "end_frame": 681, "action_text": "Retrieve yellow hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 681, "end_frame": 923, "action_text": "Pass the yellow hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 923, "end_frame": 1125, "action_text": "Place the yellow hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 652169, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 440, "action_text": "Retrieve whitening toothpaste from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 440, "end_frame": 558, "action_text": "Place the whitening toothpaste held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 558, "end_frame": 720, "action_text": "Retrieve yellow hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 720, "end_frame": 938, "action_text": "Pass the yellow hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 938, "end_frame": 1169, "action_text": "Place the yellow hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 652180, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 376, "action_text": "Retrieve whitening toothpaste from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 376, "end_frame": 504, "action_text": "Place the whitening toothpaste held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 504, "end_frame": 650, "action_text": "Retrieve yellow hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 650, "end_frame": 890, "action_text": "Pass the yellow hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 890, "end_frame": 1110, "action_text": "Place the yellow hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 652276, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 352, "action_text": "Retrieve whitening toothpaste from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 352, "end_frame": 482, "action_text": "Place the whitening toothpaste held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 482, "end_frame": 650, "action_text": "Retrieve yellow hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 650, "end_frame": 869, "action_text": "Pass the yellow hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 869, "end_frame": 1075, "action_text": "Place the yellow hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 652286, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 385, "action_text": "Retrieve whitening toothpaste from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 385, "end_frame": 491, "action_text": "Place the whitening toothpaste held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 491, "end_frame": 641, "action_text": "Retrieve yellow hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 641, "end_frame": 864, "action_text": "Pass the yellow hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 864, "end_frame": 1059, "action_text": "Place the yellow hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 652303, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 380, "action_text": "Retrieve whitening toothpaste from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 380, "end_frame": 513, "action_text": "Place the whitening toothpaste held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 513, "end_frame": 681, "action_text": "Retrieve yellow hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 681, "end_frame": 895, "action_text": "Pass the yellow hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 895, "end_frame": 1120, "action_text": "Place the yellow hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 652315, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 342, "action_text": "Retrieve whitening toothpaste from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 342, "end_frame": 455, "action_text": "Place the whitening toothpaste held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 455, "end_frame": 656, "action_text": "Retrieve yellow hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 656, "end_frame": 907, "action_text": "Pass the yellow hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 907, "end_frame": 1129, "action_text": "Place the yellow hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 652330, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 376, "action_text": "Retrieve whitening toothpaste from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 376, "end_frame": 500, "action_text": "Place the whitening toothpaste held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 500, "end_frame": 648, "action_text": "Retrieve yellow hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 648, "end_frame": 865, "action_text": "Pass the yellow hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 865, "end_frame": 1122, "action_text": "Place the yellow hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 652339, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 353, "action_text": "Retrieve whitening toothpaste from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 353, "end_frame": 493, "action_text": "Place the whitening toothpaste held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 493, "end_frame": 629, "action_text": "Retrieve yellow hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 629, "end_frame": 822, "action_text": "Pass the yellow hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 822, "end_frame": 1069, "action_text": "Place the yellow hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 652351, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 372, "action_text": "Retrieve whitening toothpaste from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 372, "end_frame": 489, "action_text": "Place the whitening toothpaste held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 489, "end_frame": 679, "action_text": "Retrieve yellow hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 679, "end_frame": 906, "action_text": "Pass the yellow hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 906, "end_frame": 1117, "action_text": "Place the yellow hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 652360, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 357, "action_text": "Retrieve whitening toothpaste from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 357, "end_frame": 464, "action_text": "Place the whitening toothpaste held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 464, "end_frame": 616, "action_text": "Retrieve yellow hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 616, "end_frame": 828, "action_text": "Pass the yellow hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 828, "end_frame": 956, "action_text": "Place the yellow hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 652405, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 375, "action_text": "Retrieve whitening toothpaste from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 375, "end_frame": 479, "action_text": "Place the whitening toothpaste held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 479, "end_frame": 641, "action_text": "Retrieve yellow hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 641, "end_frame": 865, "action_text": "Pass the yellow hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 865, "end_frame": 1128, "action_text": "Place the yellow hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 652452, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 428, "action_text": "Retrieve whitening toothpaste from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 428, "end_frame": 574, "action_text": "Place the whitening toothpaste held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 574, "end_frame": 755, "action_text": "Retrieve yellow hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 755, "end_frame": 964, "action_text": "Pass the yellow hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 964, "end_frame": 1129, "action_text": "Place the yellow hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694298, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in 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[] } }, { "episode_id": 694333, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 394, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 394, "end_frame": 570, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 570, "end_frame": 707, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 707, "end_frame": 934, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 934, "end_frame": 1203, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694352, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 330, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 330, "end_frame": 520, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 520, "end_frame": 678, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 678, "end_frame": 875, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 875, "end_frame": 1137, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694376, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 83, "end_frame": 370, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 370, "end_frame": 553, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 553, "end_frame": 710, "action_text": "Retrieve red vitamin e 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"action_config": [ { "start_frame": 0, "end_frame": 289, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 289, "end_frame": 464, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 464, "end_frame": 624, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 624, "end_frame": 840, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 840, "end_frame": 1109, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694443, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 35, "end_frame": 286, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 286, "end_frame": 494, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 494, "end_frame": 709, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 709, "end_frame": 865, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 865, "end_frame": 1043, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694462, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 55, "end_frame": 344, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 344, "end_frame": 526, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 526, "end_frame": 684, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 684, "end_frame": 898, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 898, "end_frame": 1218, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694474, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 71, "end_frame": 325, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 325, "end_frame": 487, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 487, "end_frame": 655, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 655, "end_frame": 823, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 823, "end_frame": 1009, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694586, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 284, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 284, "end_frame": 446, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 446, "end_frame": 622, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 622, "end_frame": 834, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 834, "end_frame": 1116, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694597, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 41, "end_frame": 294, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 294, "end_frame": 426, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 426, "end_frame": 608, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 608, "end_frame": 807, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 807, "end_frame": 977, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694606, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 48, "end_frame": 335, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 335, "end_frame": 523, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 523, "end_frame": 703, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 703, "end_frame": 883, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 883, "end_frame": 1131, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694620, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 293, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 293, "end_frame": 429, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 429, "end_frame": 580, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 580, "end_frame": 728, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 728, "end_frame": 946, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694640, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 58, "end_frame": 305, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 305, "end_frame": 458, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 458, "end_frame": 635, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 635, "end_frame": 836, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 836, "end_frame": 1006, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694650, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 342, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 342, "end_frame": 491, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 491, "end_frame": 657, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 657, "end_frame": 871, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 871, "end_frame": 1018, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694669, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 46, "end_frame": 291, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 291, "end_frame": 428, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 428, "end_frame": 593, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 593, "end_frame": 777, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 777, "end_frame": 944, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694681, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 58, "end_frame": 311, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 311, "end_frame": 487, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 487, "end_frame": 651, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 651, "end_frame": 906, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 906, "end_frame": 1164, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694694, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 50, "end_frame": 284, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 284, "end_frame": 480, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 480, "end_frame": 616, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 616, "end_frame": 824, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 824, "end_frame": 1019, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694706, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 55, "end_frame": 299, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 299, "end_frame": 458, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 458, "end_frame": 645, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 645, "end_frame": 865, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 865, "end_frame": 1071, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694721, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 82, "end_frame": 284, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 284, "end_frame": 444, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 444, "end_frame": 603, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 603, "end_frame": 809, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 809, "end_frame": 1007, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694737, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 50, "end_frame": 265, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 265, "end_frame": 428, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 428, "end_frame": 562, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 562, "end_frame": 771, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 771, "end_frame": 1010, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694751, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 64, "end_frame": 274, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 274, "end_frame": 498, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 498, "end_frame": 652, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 652, "end_frame": 827, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 827, "end_frame": 1088, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694769, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 70, "end_frame": 310, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 310, "end_frame": 435, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 435, "end_frame": 635, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 635, "end_frame": 855, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 855, "end_frame": 1117, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694777, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 63, "end_frame": 305, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 305, "end_frame": 478, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 478, "end_frame": 662, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 662, "end_frame": 888, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 888, "end_frame": 1121, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694795, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 49, "end_frame": 306, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 306, "end_frame": 440, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 440, "end_frame": 585, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 585, "end_frame": 806, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 806, "end_frame": 1029, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694815, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 64, "end_frame": 301, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 301, "end_frame": 482, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 482, "end_frame": 701, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 701, "end_frame": 933, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 933, "end_frame": 1206, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694826, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 53, "end_frame": 287, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 287, "end_frame": 429, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 429, "end_frame": 642, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 642, "end_frame": 860, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 860, "end_frame": 1002, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694840, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 41, "end_frame": 270, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 270, "end_frame": 431, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 431, "end_frame": 566, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 566, "end_frame": 785, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 785, "end_frame": 1025, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694868, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 73, "end_frame": 306, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 306, "end_frame": 504, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 504, "end_frame": 662, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 662, "end_frame": 929, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 929, "end_frame": 1224, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694883, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 66, "end_frame": 331, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 331, "end_frame": 525, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 525, "end_frame": 695, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 695, "end_frame": 881, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 881, "end_frame": 1084, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694904, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 42, "end_frame": 416, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 416, "end_frame": 665, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 665, "end_frame": 829, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 829, "end_frame": 1017, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 1017, "end_frame": 1250, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [ { "start": 42, "end": 416, "description": "" } ] } }, { "episode_id": 694922, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 51, "end_frame": 295, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 295, "end_frame": 437, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 437, "end_frame": 595, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 595, "end_frame": 791, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 791, "end_frame": 945, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694935, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 54, "end_frame": 288, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 288, "end_frame": 466, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 466, "end_frame": 622, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 622, "end_frame": 807, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 807, "end_frame": 994, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694946, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 50, "end_frame": 280, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 280, "end_frame": 473, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 473, "end_frame": 626, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 626, "end_frame": 837, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 837, "end_frame": 1003, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694983, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 43, "end_frame": 279, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 279, "end_frame": 424, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 424, "end_frame": 589, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 589, "end_frame": 775, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 775, "end_frame": 982, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691848, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 295, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 295, "end_frame": 500, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 500, "end_frame": 794, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 794, "end_frame": 1086, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 1086, "end_frame": 1434, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691877, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 291, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 291, "end_frame": 565, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 565, "end_frame": 835, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 835, "end_frame": 1076, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 1076, "end_frame": 1328, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691909, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 257, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 257, "end_frame": 565, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 565, "end_frame": 818, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 818, "end_frame": 1028, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 1028, "end_frame": 1166, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691948, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 325, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 325, "end_frame": 561, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 561, "end_frame": 917, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 917, "end_frame": 1169, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 1169, "end_frame": 1356, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691963, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 80, "end_frame": 387, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 387, "end_frame": 577, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 577, "end_frame": 878, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 878, "end_frame": 1157, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 1157, "end_frame": 1359, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691980, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 325, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 325, "end_frame": 586, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 586, "end_frame": 908, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 908, "end_frame": 1127, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 1127, "end_frame": 1324, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 691992, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 302, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 302, "end_frame": 535, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 535, "end_frame": 851, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 851, "end_frame": 1033, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 1033, "end_frame": 1240, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692023, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 331, "action_text": "Retrieve small bottle 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on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 321, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 321, "end_frame": 476, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 476, "end_frame": 798, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 798, "end_frame": 1030, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 1030, "end_frame": 1320, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692065, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 307, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 307, "end_frame": 518, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 518, "end_frame": 834, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 834, "end_frame": 1104, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 1104, "end_frame": 1349, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692083, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 315, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 315, "end_frame": 501, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 501, "end_frame": 867, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 867, "end_frame": 1111, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 1111, "end_frame": 1284, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692093, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 312, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 312, "end_frame": 509, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 509, "end_frame": 832, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 832, "end_frame": 1065, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 1065, "end_frame": 1369, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695659, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 250, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 250, "end_frame": 498, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 498, "end_frame": 696, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 696, "end_frame": 958, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 958, "end_frame": 1193, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695664, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 338, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 338, "end_frame": 511, "action_text": "Place the small bottle of shampoo held in the left arm into the blue 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}, { "start_frame": 288, "end_frame": 568, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 568, "end_frame": 811, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 811, "end_frame": 1024, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 1024, "end_frame": 1259, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695689, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 311, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 311, "end_frame": 566, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 566, "end_frame": 813, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 813, "end_frame": 1126, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 1126, "end_frame": 1451, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695694, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 274, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 274, "end_frame": 541, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 541, "end_frame": 740, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 740, "end_frame": 1039, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 1039, "end_frame": 1179, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695698, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 272, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 272, "end_frame": 571, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 571, "end_frame": 811, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 811, "end_frame": 1028, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 1028, "end_frame": 1298, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695710, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 224, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 224, "end_frame": 438, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 438, "end_frame": 682, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 682, "end_frame": 952, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 952, "end_frame": 1243, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695720, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 290, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 290, "end_frame": 522, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 522, "end_frame": 769, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 769, "end_frame": 975, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 975, "end_frame": 1182, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695729, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 259, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 259, "end_frame": 531, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 531, "end_frame": 813, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 813, "end_frame": 1008, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 1008, "end_frame": 1191, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695738, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 275, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 275, "end_frame": 550, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 550, "end_frame": 804, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 804, "end_frame": 1014, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 1014, "end_frame": 1351, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695748, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 249, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 249, "end_frame": 573, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 573, "end_frame": 818, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 818, "end_frame": 1164, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 1164, "end_frame": 1400, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695778, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 269, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 269, "end_frame": 488, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 488, "end_frame": 736, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 736, "end_frame": 954, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 954, "end_frame": 1303, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695789, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 211, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 211, "end_frame": 452, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 452, "end_frame": 713, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 713, "end_frame": 945, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 945, "end_frame": 1248, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695802, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 287, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 287, "end_frame": 659, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 659, "end_frame": 877, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 877, "end_frame": 1139, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 1139, "end_frame": 1379, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695810, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 269, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 269, "end_frame": 500, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 500, "end_frame": 727, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 727, "end_frame": 1017, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 1017, "end_frame": 1334, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695848, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 308, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 308, "end_frame": 512, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 512, "end_frame": 780, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 780, "end_frame": 979, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 979, "end_frame": 1260, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695860, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 261, "action_text": "Retrieve small bottle of shampoo from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 261, "end_frame": 478, "action_text": "Place the small bottle of shampoo held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 478, "end_frame": 706, "action_text": "Retrieve red vitamin e lotion from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 706, "end_frame": 898, "action_text": "Pass the red vitamin e lotion with both hands.", "skill": "HandOver" }, { "start_frame": 898, "end_frame": 1080, "action_text": "Place the red vitamin e lotion held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688166, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 331, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 331, "end_frame": 526, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 526, "end_frame": 842, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 842, "end_frame": 998, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 998, "end_frame": 1209, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688348, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 46, "end_frame": 368, "action_text": "Retrieve yellow soap from bottom left of 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"start_frame": 0, "end_frame": 300, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 300, "end_frame": 509, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 509, "end_frame": 806, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 806, "end_frame": 943, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 943, "end_frame": 1177, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688371, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 304, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 304, "end_frame": 498, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 498, "end_frame": 822, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 822, "end_frame": 977, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 977, "end_frame": 1217, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688386, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 16, "end_frame": 258, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 258, "end_frame": 393, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 393, "end_frame": 614, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 614, "end_frame": 761, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 761, "end_frame": 929, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688407, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 247, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 247, "end_frame": 354, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 354, "end_frame": 567, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 567, "end_frame": 717, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 717, "end_frame": 921, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688420, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 289, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 289, "end_frame": 414, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 414, "end_frame": 662, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 662, "end_frame": 804, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 804, "end_frame": 973, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688453, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 52, "end_frame": 326, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 326, "end_frame": 490, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 490, "end_frame": 712, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 712, "end_frame": 898, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 898, "end_frame": 1023, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688467, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 291, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 291, "end_frame": 436, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 436, "end_frame": 667, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 667, "end_frame": 826, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 826, "end_frame": 1011, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688512, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 308, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 308, "end_frame": 430, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 430, "end_frame": 661, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 661, "end_frame": 859, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 859, "end_frame": 1045, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688538, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 310, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 310, "end_frame": 447, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 447, "end_frame": 722, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 722, "end_frame": 933, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 933, "end_frame": 1081, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688547, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 286, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 286, "end_frame": 447, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 447, "end_frame": 744, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 744, "end_frame": 980, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 980, "end_frame": 1223, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688558, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 36, "end_frame": 330, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 330, "end_frame": 492, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 492, "end_frame": 800, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 800, "end_frame": 992, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 992, "end_frame": 1149, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688576, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 324, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 324, "end_frame": 492, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 492, "end_frame": 761, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 761, "end_frame": 954, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 954, "end_frame": 1142, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688610, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 452, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 452, "end_frame": 592, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 592, "end_frame": 873, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 873, "end_frame": 1089, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 1089, "end_frame": 1280, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [ { "start": 0, "end": 452, "description": "" } ] } }, { "episode_id": 688643, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 292, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 292, "end_frame": 434, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 434, "end_frame": 677, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 677, "end_frame": 837, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 837, "end_frame": 1083, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688668, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 270, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 270, "end_frame": 438, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 438, "end_frame": 689, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 689, "end_frame": 920, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 920, "end_frame": 1094, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688681, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 288, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 288, "end_frame": 446, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 446, "end_frame": 671, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 671, "end_frame": 866, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 866, "end_frame": 1035, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688730, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 33, "end_frame": 261, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 261, "end_frame": 408, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 408, "end_frame": 643, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 643, "end_frame": 861, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 861, "end_frame": 1045, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688759, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 276, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 276, "end_frame": 434, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 434, "end_frame": 658, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 658, "end_frame": 851, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 851, "end_frame": 1004, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688774, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 26, "end_frame": 264, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 264, "end_frame": 388, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 388, "end_frame": 613, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 613, "end_frame": 757, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 757, "end_frame": 930, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688785, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 249, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 249, "end_frame": 380, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 380, "end_frame": 613, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 613, "end_frame": 819, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 819, "end_frame": 992, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688805, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 23, "end_frame": 262, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 262, "end_frame": 401, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 401, "end_frame": 645, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 645, "end_frame": 852, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 852, "end_frame": 1022, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688818, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 248, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 248, "end_frame": 389, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 389, "end_frame": 637, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 637, "end_frame": 826, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 826, "end_frame": 979, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688824, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with 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stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 233, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 233, "end_frame": 360, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 360, "end_frame": 604, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 604, "end_frame": 828, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 828, "end_frame": 959, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688894, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 382, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 382, "end_frame": 495, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 495, "end_frame": 753, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 753, "end_frame": 958, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 958, "end_frame": 1083, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [ { "start": 0, "end": 382, "description": "" } ] } }, { "episode_id": 688955, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 226, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 226, "end_frame": 372, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 372, "end_frame": 637, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 637, "end_frame": 871, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 871, "end_frame": 1050, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688964, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 234, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 234, "end_frame": 348, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 348, "end_frame": 598, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 598, "end_frame": 791, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 791, "end_frame": 933, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688990, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 393, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 393, "end_frame": 516, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 516, "end_frame": 745, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 745, "end_frame": 968, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 968, "end_frame": 1144, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [ { "start": 0, "end": 393, "description": "" } ] } }, { "episode_id": 689009, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 279, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 279, "end_frame": 391, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 391, "end_frame": 654, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 654, "end_frame": 843, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 843, "end_frame": 1018, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689019, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 283, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 283, "end_frame": 426, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 426, "end_frame": 715, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 715, "end_frame": 943, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 943, "end_frame": 1120, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689036, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 270, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 270, "end_frame": 412, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 412, "end_frame": 612, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 612, "end_frame": 832, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 832, "end_frame": 986, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689049, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 254, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 254, "end_frame": 369, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 369, "end_frame": 585, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 585, "end_frame": 766, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 766, "end_frame": 977, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689066, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 235, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 235, "end_frame": 349, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 349, "end_frame": 573, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 573, "end_frame": 773, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 773, "end_frame": 919, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689100, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 264, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 264, "end_frame": 379, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 379, "end_frame": 636, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 636, "end_frame": 876, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 876, "end_frame": 1062, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689115, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 241, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 241, "end_frame": 356, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 356, "end_frame": 574, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 574, "end_frame": 935, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 935, "end_frame": 1063, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [ { "start": 574, "end": 935, "description": "" } ] } }, { "episode_id": 689128, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 260, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 260, "end_frame": 400, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 400, "end_frame": 680, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 680, "end_frame": 856, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 856, "end_frame": 962, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689148, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 178, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 178, "end_frame": 314, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 314, "end_frame": 542, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 542, "end_frame": 665, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 665, "end_frame": 808, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694941, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 274, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 274, "end_frame": 406, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 406, "end_frame": 638, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 638, "end_frame": 856, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 856, "end_frame": 959, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694954, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 262, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 262, "end_frame": 364, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 364, "end_frame": 604, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 604, "end_frame": 772, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 772, "end_frame": 862, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694967, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 387, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 387, "end_frame": 526, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 526, "end_frame": 715, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 715, "end_frame": 927, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 927, "end_frame": 1015, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [ { "start": 0, "end": 387, "description": "" } ] } }, { "episode_id": 694985, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 268, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 268, "end_frame": 405, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 405, "end_frame": 676, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 676, "end_frame": 872, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 872, "end_frame": 981, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694997, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 268, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 268, "end_frame": 391, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 391, "end_frame": 611, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 611, "end_frame": 806, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 806, "end_frame": 921, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695006, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 227, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 227, "end_frame": 382, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 382, "end_frame": 634, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 634, "end_frame": 800, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 800, "end_frame": 925, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695018, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 250, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 250, "end_frame": 374, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 374, "end_frame": 623, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 623, "end_frame": 831, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 831, "end_frame": 933, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695025, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 257, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 257, "end_frame": 390, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 390, "end_frame": 596, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 596, "end_frame": 777, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 777, "end_frame": 886, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695032, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 262, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 262, "end_frame": 371, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 371, "end_frame": 600, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 600, "end_frame": 780, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 780, "end_frame": 887, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695043, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 259, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 259, "end_frame": 380, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 380, "end_frame": 671, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 671, "end_frame": 853, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 853, "end_frame": 954, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695056, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 275, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 275, "end_frame": 387, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 387, "end_frame": 675, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 675, "end_frame": 857, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 857, "end_frame": 994, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695063, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 256, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 256, "end_frame": 372, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 372, "end_frame": 617, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 617, "end_frame": 782, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 782, "end_frame": 924, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695074, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 236, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 236, "end_frame": 385, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 385, "end_frame": 672, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 672, "end_frame": 871, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 871, "end_frame": 1004, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695082, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 248, "action_text": "Retrieve yellow soap from bottom left of the 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"start_frame": 0, "end_frame": 247, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 247, "end_frame": 376, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 376, "end_frame": 566, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 566, "end_frame": 756, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 756, "end_frame": 879, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695112, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 252, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 252, "end_frame": 368, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 368, "end_frame": 599, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 599, "end_frame": 797, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 797, "end_frame": 907, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695119, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 279, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 279, "end_frame": 414, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 414, "end_frame": 617, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 617, "end_frame": 779, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 779, "end_frame": 895, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695127, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 281, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 281, "end_frame": 402, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 402, "end_frame": 618, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 618, "end_frame": 793, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 793, "end_frame": 909, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695139, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 238, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 238, "end_frame": 357, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 357, "end_frame": 563, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 563, "end_frame": 739, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 739, "end_frame": 843, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695147, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 276, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 276, "end_frame": 400, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 400, "end_frame": 667, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 667, "end_frame": 830, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 830, "end_frame": 975, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695160, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 241, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 241, "end_frame": 361, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 361, "end_frame": 577, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 577, "end_frame": 777, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 777, "end_frame": 875, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695168, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 250, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 250, "end_frame": 384, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 384, "end_frame": 573, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 573, "end_frame": 716, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 716, "end_frame": 867, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695177, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 251, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 251, "end_frame": 354, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 354, "end_frame": 578, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 578, "end_frame": 767, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 767, "end_frame": 879, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695193, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 240, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 240, "end_frame": 347, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 347, "end_frame": 623, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 623, "end_frame": 795, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 795, "end_frame": 901, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695200, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 262, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 262, "end_frame": 391, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 391, "end_frame": 608, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 608, "end_frame": 832, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 832, "end_frame": 960, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695207, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 247, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 247, "end_frame": 363, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 363, "end_frame": 560, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 560, "end_frame": 774, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 774, "end_frame": 879, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695219, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 232, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 232, "end_frame": 382, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 382, "end_frame": 798, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 798, "end_frame": 968, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 968, "end_frame": 1062, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [ { "start": 382, "end": 798, "description": "" } ] } }, { "episode_id": 695223, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 253, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 253, "end_frame": 396, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 396, "end_frame": 648, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 648, "end_frame": 799, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 799, "end_frame": 927, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695235, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 280, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 280, "end_frame": 412, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 412, "end_frame": 634, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 634, "end_frame": 824, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 824, "end_frame": 934, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695242, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 235, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 235, "end_frame": 352, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 352, "end_frame": 769, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 769, "end_frame": 998, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 998, "end_frame": 1110, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [ { "start": 352, "end": 769, "description": "" } ] } }, { "episode_id": 695279, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 393, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 393, "end_frame": 552, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 552, "end_frame": 793, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 793, "end_frame": 961, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 961, "end_frame": 1060, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [ { "start": 0, "end": 393, "description": "" } ] } }, { "episode_id": 695290, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 289, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 289, "end_frame": 429, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 429, "end_frame": 651, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 651, "end_frame": 882, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 882, "end_frame": 956, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695300, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 502, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 502, "end_frame": 636, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 636, "end_frame": 827, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 827, "end_frame": 1016, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 1016, "end_frame": 1125, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [ { "start": 0, "end": 502, "description": "" } ] } }, { "episode_id": 695310, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 251, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 251, "end_frame": 384, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 384, "end_frame": 624, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 624, "end_frame": 772, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 772, "end_frame": 872, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695321, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 251, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 251, "end_frame": 378, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 378, "end_frame": 725, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 725, "end_frame": 882, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 882, "end_frame": 989, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [ { "start": 378, "end": 725, "description": "" } ] } }, { "episode_id": 695333, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 267, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 267, "end_frame": 370, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 370, "end_frame": 618, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 618, "end_frame": 760, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 760, "end_frame": 882, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695349, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 257, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 257, "end_frame": 392, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 392, "end_frame": 588, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 588, "end_frame": 748, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 748, "end_frame": 865, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695356, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 238, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 238, "end_frame": 370, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 370, "end_frame": 597, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 597, "end_frame": 730, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 730, "end_frame": 855, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695365, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 248, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 248, "end_frame": 371, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 371, "end_frame": 575, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 575, "end_frame": 751, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 751, "end_frame": 851, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695372, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 277, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 277, "end_frame": 433, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 433, "end_frame": 634, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 634, "end_frame": 787, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 787, "end_frame": 893, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695383, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 249, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 249, "end_frame": 353, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 353, "end_frame": 586, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 586, "end_frame": 722, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 722, "end_frame": 841, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695392, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 263, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 263, "end_frame": 400, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 400, "end_frame": 598, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 598, "end_frame": 774, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 774, "end_frame": 867, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695402, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 238, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 238, "end_frame": 356, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 356, "end_frame": 547, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 547, "end_frame": 720, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 720, "end_frame": 804, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695410, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 250, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 250, "end_frame": 358, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 358, "end_frame": 591, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 591, "end_frame": 740, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 740, "end_frame": 853, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695445, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 254, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 254, "end_frame": 394, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 394, "end_frame": 571, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 571, "end_frame": 722, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 722, "end_frame": 844, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695456, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 240, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 240, "end_frame": 332, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 332, "end_frame": 519, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 519, "end_frame": 685, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 685, "end_frame": 788, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695464, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 265, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 265, "end_frame": 360, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 360, "end_frame": 583, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 583, "end_frame": 732, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 732, "end_frame": 829, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695472, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 244, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 244, "end_frame": 362, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 362, "end_frame": 608, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 608, "end_frame": 729, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 729, "end_frame": 825, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695484, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 260, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 260, "end_frame": 377, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 377, "end_frame": 586, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 586, "end_frame": 727, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 727, "end_frame": 860, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695493, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 239, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 239, "end_frame": 351, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 351, "end_frame": 559, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 559, "end_frame": 711, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 711, "end_frame": 802, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695499, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 236, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 236, "end_frame": 368, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 368, "end_frame": 550, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 550, "end_frame": 717, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 717, "end_frame": 836, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695510, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 264, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 264, "end_frame": 405, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 405, "end_frame": 550, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 550, "end_frame": 686, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 686, "end_frame": 804, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695520, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 254, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 254, "end_frame": 365, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 365, "end_frame": 570, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 570, "end_frame": 720, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 720, "end_frame": 824, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695527, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 237, "action_text": "Retrieve yellow soap from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 237, "end_frame": 378, "action_text": "Place the yellow soap held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 378, "end_frame": 584, "action_text": "Retrieve green hand cream from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 584, "end_frame": 734, "action_text": "Pass the green hand cream with both hands.", "skill": "HandOver" }, { "start_frame": 734, "end_frame": 872, "action_text": "Place the green hand cream held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 651126, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 37, "end_frame": 278, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 278, "end_frame": 417, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 417, "end_frame": 663, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 663, "end_frame": 929, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 929, "end_frame": 1092, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 651226, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 52, "end_frame": 240, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 240, "end_frame": 395, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 395, "end_frame": 762, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 762, "end_frame": 1016, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 1016, "end_frame": 1382, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 651290, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 50, "end_frame": 234, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 234, "end_frame": 356, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 356, "end_frame": 622, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 622, "end_frame": 847, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 847, "end_frame": 1011, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 651502, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 58, "end_frame": 229, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 229, "end_frame": 392, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 392, "end_frame": 706, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 706, "end_frame": 937, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 937, "end_frame": 1266, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 651721, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 60, "end_frame": 207, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 207, "end_frame": 339, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 339, "end_frame": 595, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 595, "end_frame": 800, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 800, "end_frame": 1053, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 651745, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 70, "end_frame": 257, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 257, "end_frame": 532, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 532, "end_frame": 832, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 832, "end_frame": 1130, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 1130, "end_frame": 1321, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 651763, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 72, "end_frame": 267, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 267, "end_frame": 421, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 421, "end_frame": 656, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 656, "end_frame": 905, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 905, "end_frame": 1105, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 651821, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 40, "end_frame": 193, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 193, "end_frame": 357, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 357, "end_frame": 657, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 657, "end_frame": 835, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 835, "end_frame": 1046, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 652022, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 63, "end_frame": 227, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 227, "end_frame": 357, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 357, "end_frame": 549, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 549, "end_frame": 777, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 777, "end_frame": 1033, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 652066, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 54, "end_frame": 263, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 263, "end_frame": 487, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 487, "end_frame": 733, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 733, "end_frame": 1036, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 1036, "end_frame": 1224, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 652528, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 60, "end_frame": 237, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 237, "end_frame": 416, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 416, "end_frame": 630, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 630, "end_frame": 846, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 846, "end_frame": 1064, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686764, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 291, "action_text": "Retrieve moisturizing oil from bottom left of the material frame 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"action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 305, "end_frame": 510, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 510, "end_frame": 898, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 898, "end_frame": 1190, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 1190, "end_frame": 1355, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687052, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 312, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 312, "end_frame": 526, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 526, "end_frame": 903, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 903, "end_frame": 1033, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 1033, "end_frame": 1311, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687112, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a 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robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 377, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 377, "end_frame": 532, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 532, "end_frame": 889, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 889, "end_frame": 1081, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 1081, "end_frame": 1250, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687187, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 369, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 369, "end_frame": 528, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 528, "end_frame": 863, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 863, "end_frame": 1155, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 1155, "end_frame": 1343, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687214, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 326, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 326, "end_frame": 467, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 467, "end_frame": 839, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 839, "end_frame": 996, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 996, "end_frame": 1177, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687237, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 329, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 329, "end_frame": 507, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 507, "end_frame": 783, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 783, "end_frame": 997, "action_text": "Pass the pink soap 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"Pick" }, { "start_frame": 942, "end_frame": 1194, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 1194, "end_frame": 1378, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [ { "start": 0, "end": 443, "description": "" } ] } }, { "episode_id": 687270, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 321, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 321, "end_frame": 523, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { 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"action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687429, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 416, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 416, "end_frame": 613, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 613, "end_frame": 834, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 834, "end_frame": 1076, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 1076, "end_frame": 1247, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [ { "start": 0, "end": 416, "description": "" } ] } }, { "episode_id": 687437, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 272, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 272, "end_frame": 460, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 460, "end_frame": 725, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 725, "end_frame": 969, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 969, "end_frame": 1185, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687452, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 262, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 262, "end_frame": 479, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 479, "end_frame": 721, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 721, "end_frame": 901, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 901, "end_frame": 1108, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693422, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 43, "end_frame": 263, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 263, "end_frame": 389, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 389, "end_frame": 614, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 614, "end_frame": 721, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 721, "end_frame": 819, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693433, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 17, "end_frame": 223, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 223, "end_frame": 376, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 376, "end_frame": 596, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 596, "end_frame": 708, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 708, "end_frame": 827, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693443, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 216, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 216, "end_frame": 355, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 355, "end_frame": 639, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 639, "end_frame": 733, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 733, "end_frame": 857, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693451, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 11, "end_frame": 368, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 368, "end_frame": 517, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 517, "end_frame": 775, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 775, "end_frame": 869, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 869, "end_frame": 980, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [ { "start": 11, "end": 368, "description": "" } ] } }, { "episode_id": 693461, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 20, "end_frame": 390, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 390, "end_frame": 562, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 562, "end_frame": 823, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 823, "end_frame": 926, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 926, "end_frame": 1049, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [ { "start": 20, "end": 390, "description": "" } ] } }, { "episode_id": 693472, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 18, "end_frame": 239, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 239, "end_frame": 367, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 367, "end_frame": 655, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 655, "end_frame": 758, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 758, "end_frame": 871, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693479, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 11, "end_frame": 257, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 257, "end_frame": 429, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 429, "end_frame": 709, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 709, "end_frame": 810, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 810, "end_frame": 913, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693488, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 275, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 275, "end_frame": 392, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 392, "end_frame": 634, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 634, "end_frame": 809, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 809, "end_frame": 943, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693502, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 281, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 281, "end_frame": 400, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 400, "end_frame": 639, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 639, "end_frame": 772, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 772, "end_frame": 918, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693508, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 280, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 280, "end_frame": 418, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 418, "end_frame": 663, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 663, "end_frame": 855, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 855, "end_frame": 1000, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693517, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 252, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 252, "end_frame": 360, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 360, "end_frame": 614, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 614, "end_frame": 779, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 779, "end_frame": 923, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693525, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 264, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 264, "end_frame": 408, "action_text": "Place the moisturizing oil held 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"start_frame": 268, "end_frame": 393, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 393, "end_frame": 617, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 617, "end_frame": 777, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 777, "end_frame": 896, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693552, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 429, "action_text": "Retrieve moisturizing oil 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the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 256, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 256, "end_frame": 377, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 377, "end_frame": 646, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 646, "end_frame": 834, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 834, "end_frame": 958, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693581, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 246, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 246, "end_frame": 373, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 373, "end_frame": 622, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 622, "end_frame": 750, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 750, "end_frame": 882, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693586, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 296, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 296, "end_frame": 403, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 403, "end_frame": 667, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 667, "end_frame": 838, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 838, "end_frame": 948, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693597, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 231, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 231, "end_frame": 331, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 331, "end_frame": 553, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 553, "end_frame": 701, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 701, "end_frame": 831, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693608, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 289, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 289, "end_frame": 402, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 402, "end_frame": 630, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 630, "end_frame": 786, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 786, "end_frame": 942, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693616, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 265, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 265, "end_frame": 393, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 393, "end_frame": 805, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 805, "end_frame": 970, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 970, "end_frame": 1078, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [ { "start": 393, "end": 805, "description": "" } ] } }, { "episode_id": 693627, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 246, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 246, "end_frame": 376, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 376, "end_frame": 631, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 631, "end_frame": 795, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 795, "end_frame": 911, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693639, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 287, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 287, "end_frame": 384, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 384, "end_frame": 659, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 659, "end_frame": 805, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 805, "end_frame": 927, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693646, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 240, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 240, "end_frame": 369, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 369, "end_frame": 611, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 611, "end_frame": 775, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 775, "end_frame": 997, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693656, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 369, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 369, "end_frame": 468, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 468, "end_frame": 708, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 708, "end_frame": 885, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 885, "end_frame": 1027, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693671, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 304, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 304, "end_frame": 454, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 454, "end_frame": 648, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 648, "end_frame": 819, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 819, "end_frame": 923, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693684, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 260, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 260, "end_frame": 392, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 392, "end_frame": 659, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 659, "end_frame": 831, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 831, "end_frame": 944, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693692, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 275, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 275, "end_frame": 388, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 388, "end_frame": 627, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 627, "end_frame": 785, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 785, "end_frame": 891, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693697, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 294, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 294, "end_frame": 421, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 421, "end_frame": 639, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 639, "end_frame": 811, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 811, "end_frame": 956, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693711, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 284, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 284, "end_frame": 428, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 428, "end_frame": 710, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 710, "end_frame": 892, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 892, "end_frame": 1001, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693720, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 258, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 258, "end_frame": 421, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 421, "end_frame": 627, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 627, "end_frame": 827, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 827, "end_frame": 958, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693737, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 250, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 250, "end_frame": 366, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 366, "end_frame": 582, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 582, "end_frame": 789, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 789, "end_frame": 907, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693744, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 273, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 273, "end_frame": 374, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 374, "end_frame": 633, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 633, "end_frame": 788, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 788, "end_frame": 915, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693753, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 246, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 246, "end_frame": 362, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 362, "end_frame": 566, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 566, "end_frame": 706, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 706, "end_frame": 839, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693763, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 243, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 243, "end_frame": 362, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 362, "end_frame": 579, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 579, "end_frame": 727, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 727, "end_frame": 901, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693771, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 261, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 261, "end_frame": 377, "action_text": "Place the moisturizing oil held in the left arm 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"end_frame": 382, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 382, "end_frame": 650, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 650, "end_frame": 817, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 817, "end_frame": 949, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693794, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 253, "action_text": "Retrieve moisturizing oil from bottom left of 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"end_frame": 275, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 275, "end_frame": 384, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 384, "end_frame": 648, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 648, "end_frame": 830, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 830, "end_frame": 960, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693819, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid 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"init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 296, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 296, "end_frame": 405, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 405, "end_frame": 728, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 728, "end_frame": 905, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 905, "end_frame": 1065, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693854, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 288, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 288, "end_frame": 415, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 415, "end_frame": 670, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 670, "end_frame": 846, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 846, "end_frame": 955, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693870, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 324, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 324, "end_frame": 469, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 469, "end_frame": 970, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 970, "end_frame": 1146, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 1146, "end_frame": 1256, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [ { "start": 469, "end": 970, "description": "" } ] } }, { "episode_id": 693886, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 486, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 486, "end_frame": 601, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 601, "end_frame": 879, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 879, "end_frame": 1059, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 1059, "end_frame": 1163, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [ { "start": 0, "end": 486, "description": "" } ] } }, { "episode_id": 693895, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 280, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 280, "end_frame": 395, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 395, "end_frame": 647, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 647, "end_frame": 810, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 810, "end_frame": 923, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693908, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 471, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 471, "end_frame": 604, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 604, "end_frame": 871, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 871, "end_frame": 1045, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 1045, "end_frame": 1177, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [ { "start": 0, "end": 471, "description": "" } ] } }, { "episode_id": 693934, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 359, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 359, "end_frame": 510, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 510, "end_frame": 737, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 737, "end_frame": 918, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 918, "end_frame": 1046, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693944, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 280, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 280, "end_frame": 397, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 397, "end_frame": 656, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 656, "end_frame": 849, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 849, "end_frame": 967, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693958, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 313, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 313, "end_frame": 443, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 443, "end_frame": 652, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 652, "end_frame": 802, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 802, "end_frame": 925, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693965, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 295, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 295, "end_frame": 420, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 420, "end_frame": 656, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 656, "end_frame": 831, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 831, "end_frame": 959, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693975, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 279, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 279, "end_frame": 400, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 400, "end_frame": 634, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 634, "end_frame": 804, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 804, "end_frame": 917, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693985, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 273, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 273, "end_frame": 412, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 412, "end_frame": 623, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 623, "end_frame": 762, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 762, "end_frame": 869, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693992, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 291, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 291, "end_frame": 411, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 411, "end_frame": 659, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 659, "end_frame": 825, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 825, "end_frame": 965, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 669755, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 213, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 213, "end_frame": 370, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 370, "end_frame": 629, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 629, "end_frame": 839, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 839, "end_frame": 984, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 669768, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 380, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 380, "end_frame": 547, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 547, "end_frame": 820, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 820, "end_frame": 1052, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 1052, "end_frame": 1297, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [ { "start": 0, "end": 380, "description": "" } ] } }, { "episode_id": 669779, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 225, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 225, "end_frame": 405, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 405, "end_frame": 662, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 662, "end_frame": 1029, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 1029, "end_frame": 1196, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [ { "start": 662, "end": 1029, "description": "" } ] } }, { "episode_id": 669787, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 221, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 221, "end_frame": 395, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 395, "end_frame": 656, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 656, "end_frame": 904, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 904, "end_frame": 1013, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 669790, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 197, "action_text": "Retrieve moisturizing oil from bottom left of the material 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231, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 231, "end_frame": 423, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 423, "end_frame": 760, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 760, "end_frame": 993, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 993, "end_frame": 1153, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 669943, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 208, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 208, "end_frame": 384, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 384, "end_frame": 629, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 629, "end_frame": 861, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 861, "end_frame": 1040, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 669960, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a 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robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 223, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 223, "end_frame": 449, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 449, "end_frame": 695, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 695, "end_frame": 1000, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 1000, "end_frame": 1300, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 669986, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 242, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 242, "end_frame": 426, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 426, "end_frame": 724, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 724, "end_frame": 960, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 960, "end_frame": 1144, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 669998, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 216, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 216, "end_frame": 412, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 412, "end_frame": 755, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 755, "end_frame": 1018, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 1018, "end_frame": 1173, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 670012, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 245, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 245, "end_frame": 389, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 389, "end_frame": 684, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 684, "end_frame": 969, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 969, "end_frame": 1196, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 670037, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 49, "end_frame": 300, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 300, "end_frame": 459, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 459, "end_frame": 697, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 697, "end_frame": 921, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 921, "end_frame": 1107, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 670047, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 29, "end_frame": 291, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 291, "end_frame": 442, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 442, "end_frame": 762, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 762, "end_frame": 988, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 988, "end_frame": 1221, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692586, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 33, "end_frame": 548, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 548, "end_frame": 696, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 696, "end_frame": 914, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 914, "end_frame": 1050, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 1050, "end_frame": 1212, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [ { "start": 33, "end": 548, "description": "" } ] } }, { "episode_id": 692589, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 32, "end_frame": 530, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 530, "end_frame": 667, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 667, "end_frame": 883, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 883, "end_frame": 1044, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 1044, "end_frame": 1258, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [ { "start": 32, "end": 530, "description": "" } ] } }, { "episode_id": 692597, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 33, "end_frame": 313, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 313, "end_frame": 448, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 448, "end_frame": 651, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 651, "end_frame": 855, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 855, "end_frame": 1056, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [ { "start": 33, "end": 313, "description": "" } ] } }, { "episode_id": 692602, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 42, "end_frame": 324, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 324, "end_frame": 454, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 454, "end_frame": 696, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 696, "end_frame": 846, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 846, "end_frame": 1020, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692608, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 318, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 318, "end_frame": 434, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 434, "end_frame": 655, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 655, "end_frame": 833, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 833, "end_frame": 1038, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692611, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 19, "end_frame": 296, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 296, "end_frame": 456, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 456, "end_frame": 662, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 662, "end_frame": 820, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 820, "end_frame": 1024, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692616, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 270, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 270, "end_frame": 419, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 419, "end_frame": 639, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 639, "end_frame": 822, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 822, "end_frame": 1008, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692627, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 37, "end_frame": 279, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 279, "end_frame": 406, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 406, "end_frame": 639, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 639, "end_frame": 828, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 828, "end_frame": 1015, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692631, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 352, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 352, "end_frame": 497, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 497, "end_frame": 750, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 750, "end_frame": 877, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 877, "end_frame": 1066, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692634, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 22, "end_frame": 284, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 284, "end_frame": 420, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 420, "end_frame": 636, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 636, "end_frame": 819, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 819, "end_frame": 981, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692640, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 21, "end_frame": 251, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 251, "end_frame": 395, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 395, "end_frame": 636, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 636, "end_frame": 823, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 823, "end_frame": 994, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692647, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 282, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 282, "end_frame": 405, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 405, "end_frame": 624, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 624, "end_frame": 785, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 785, "end_frame": 980, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692654, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 18, "end_frame": 282, "action_text": "Retrieve moisturizing oil from bottom left of the material frame 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"action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 300, "end_frame": 435, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 435, "end_frame": 685, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 685, "end_frame": 866, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 866, "end_frame": 1062, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692664, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 38, "end_frame": 309, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 309, "end_frame": 471, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 471, "end_frame": 682, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 682, "end_frame": 864, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 864, "end_frame": 1079, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692671, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a 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robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 251, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 251, "end_frame": 387, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 387, "end_frame": 596, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 596, "end_frame": 771, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 771, "end_frame": 962, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692698, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 22, "end_frame": 229, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 229, "end_frame": 353, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 353, "end_frame": 556, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 556, "end_frame": 716, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 716, "end_frame": 893, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692709, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 260, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 260, "end_frame": 390, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 390, "end_frame": 627, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 627, "end_frame": 798, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 798, "end_frame": 992, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692715, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 271, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 271, "end_frame": 420, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 420, "end_frame": 628, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 628, "end_frame": 787, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 787, "end_frame": 982, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692718, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 25, "end_frame": 270, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 270, "end_frame": 389, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 389, "end_frame": 597, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 597, "end_frame": 792, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 792, "end_frame": 991, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692727, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 29, "end_frame": 268, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 268, "end_frame": 396, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 396, "end_frame": 610, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 610, "end_frame": 753, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 753, "end_frame": 937, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692732, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 23, "end_frame": 262, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 262, "end_frame": 391, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 391, "end_frame": 610, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 610, "end_frame": 764, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 764, "end_frame": 954, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692738, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 23, "end_frame": 236, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 236, "end_frame": 345, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 345, "end_frame": 558, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 558, "end_frame": 703, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 703, "end_frame": 870, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692743, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 33, "end_frame": 299, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 299, "end_frame": 426, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 426, "end_frame": 665, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 665, "end_frame": 839, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 839, "end_frame": 1059, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692749, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 29, "end_frame": 252, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 252, "end_frame": 386, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 386, "end_frame": 606, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 606, "end_frame": 780, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 780, "end_frame": 956, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692760, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 29, "end_frame": 247, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 247, "end_frame": 392, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 392, "end_frame": 591, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 591, "end_frame": 782, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 782, "end_frame": 935, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692771, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 18, "end_frame": 238, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 238, "end_frame": 389, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 389, "end_frame": 582, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 582, "end_frame": 793, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 793, "end_frame": 998, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692778, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 252, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 252, "end_frame": 403, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 403, "end_frame": 609, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 609, "end_frame": 768, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 768, "end_frame": 900, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692785, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 245, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 245, "end_frame": 386, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 386, "end_frame": 606, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 606, "end_frame": 770, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 770, "end_frame": 899, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692788, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 427, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 427, "end_frame": 564, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 564, "end_frame": 782, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 782, "end_frame": 918, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 918, "end_frame": 1052, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692793, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 260, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 260, "end_frame": 389, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 389, "end_frame": 653, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 653, "end_frame": 813, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 813, "end_frame": 938, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692801, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 238, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 238, "end_frame": 382, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 382, "end_frame": 616, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 616, "end_frame": 769, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 769, "end_frame": 922, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692808, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 256, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 256, "end_frame": 404, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 404, "end_frame": 660, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 660, "end_frame": 804, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 804, "end_frame": 933, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692813, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 242, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 242, "end_frame": 393, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 393, "end_frame": 664, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 664, "end_frame": 766, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 766, "end_frame": 894, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692818, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 255, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 255, "end_frame": 398, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 398, "end_frame": 630, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 630, "end_frame": 785, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 785, "end_frame": 905, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692825, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 279, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 279, "end_frame": 433, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 433, "end_frame": 666, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 666, "end_frame": 828, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 828, "end_frame": 989, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692833, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 272, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 272, "end_frame": 441, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 441, "end_frame": 673, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 673, "end_frame": 826, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 826, "end_frame": 948, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692841, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 240, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 240, "end_frame": 393, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 393, "end_frame": 647, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 647, "end_frame": 779, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 779, "end_frame": 893, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692846, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 255, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 255, "end_frame": 407, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 407, "end_frame": 636, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 636, "end_frame": 789, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 789, "end_frame": 936, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692860, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 310, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 310, "end_frame": 434, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 434, "end_frame": 674, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 674, "end_frame": 819, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 819, "end_frame": 928, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692862, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 238, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 238, "end_frame": 393, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 393, "end_frame": 616, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 616, "end_frame": 762, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 762, "end_frame": 871, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692867, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 234, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 234, "end_frame": 369, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 369, "end_frame": 626, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 626, "end_frame": 758, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 758, "end_frame": 866, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692869, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 265, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 265, "end_frame": 435, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 435, "end_frame": 567, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 567, "end_frame": 796, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 796, "end_frame": 907, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692872, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 243, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 243, "end_frame": 388, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 388, "end_frame": 639, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 639, "end_frame": 763, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 763, "end_frame": 891, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692876, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 228, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 228, "end_frame": 366, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 366, "end_frame": 624, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 624, "end_frame": 746, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 746, "end_frame": 887, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692881, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 226, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 226, "end_frame": 361, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 361, "end_frame": 594, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 594, "end_frame": 736, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 736, "end_frame": 871, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692886, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 241, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 241, "end_frame": 376, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 376, "end_frame": 589, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 589, "end_frame": 711, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 711, "end_frame": 874, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692898, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 248, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", 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"Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 239, "end_frame": 375, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 375, "end_frame": 633, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 633, "end_frame": 765, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 765, "end_frame": 899, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692921, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", 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"task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 403, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 403, "end_frame": 585, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 585, "end_frame": 827, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 827, "end_frame": 996, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 996, "end_frame": 1153, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692976, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 245, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 245, "end_frame": 372, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 372, "end_frame": 632, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 632, "end_frame": 784, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 784, "end_frame": 928, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692987, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 237, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 237, "end_frame": 370, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 370, "end_frame": 612, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 612, "end_frame": 801, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 801, "end_frame": 932, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692997, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 286, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 286, "end_frame": 455, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 455, "end_frame": 739, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 739, "end_frame": 885, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 885, "end_frame": 1019, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693006, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 291, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 291, "end_frame": 431, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 431, "end_frame": 730, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 730, "end_frame": 887, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 887, "end_frame": 1025, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693013, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 28, "end_frame": 387, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 387, "end_frame": 559, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", 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"start_frame": 0, "end_frame": 238, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 238, "end_frame": 371, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 371, "end_frame": 634, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 634, "end_frame": 780, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 780, "end_frame": 935, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693042, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 239, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 239, "end_frame": 403, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 403, "end_frame": 685, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 685, "end_frame": 803, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 803, "end_frame": 919, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693048, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 235, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 235, "end_frame": 384, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 384, "end_frame": 660, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 660, "end_frame": 802, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 802, "end_frame": 913, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693059, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 217, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 217, "end_frame": 371, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 371, "end_frame": 614, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 614, "end_frame": 738, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 738, "end_frame": 882, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693069, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 241, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 241, "end_frame": 379, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 379, "end_frame": 620, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 620, "end_frame": 756, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 756, "end_frame": 871, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693079, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 442, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 442, "end_frame": 582, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 582, "end_frame": 818, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 818, "end_frame": 965, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 965, "end_frame": 1104, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693095, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 255, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 255, "end_frame": 410, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 410, "end_frame": 665, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 665, "end_frame": 791, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 791, "end_frame": 937, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693100, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 270, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 270, "end_frame": 427, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 427, "end_frame": 696, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 696, "end_frame": 835, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 835, "end_frame": 971, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693112, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 283, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 283, "end_frame": 451, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 451, "end_frame": 736, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 736, "end_frame": 871, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 871, "end_frame": 1001, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693121, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 244, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 244, "end_frame": 381, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 381, "end_frame": 634, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 634, "end_frame": 754, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 754, "end_frame": 866, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693127, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 266, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 266, "end_frame": 414, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 414, "end_frame": 643, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 643, "end_frame": 794, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 794, "end_frame": 909, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693132, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 256, "action_text": "Retrieve moisturizing oil from bottom left of the material frame 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"action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 294, "end_frame": 457, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 457, "end_frame": 690, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 690, "end_frame": 832, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 832, "end_frame": 948, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693143, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 270, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 270, "end_frame": 445, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 445, "end_frame": 710, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 710, "end_frame": 856, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 856, "end_frame": 987, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693149, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 19, "end_frame": 390, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 390, "end_frame": 546, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 546, "end_frame": 805, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 805, "end_frame": 909, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 909, "end_frame": 1047, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [ { "start": 19, "end": 390, "description": "" } ] } }, { "episode_id": 693155, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 38, "end_frame": 257, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 257, "end_frame": 398, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 398, "end_frame": 697, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 697, "end_frame": 810, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 810, "end_frame": 953, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693164, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 29, "end_frame": 253, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 253, "end_frame": 415, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 415, "end_frame": 682, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 682, "end_frame": 806, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 806, "end_frame": 932, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693170, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 8, "end_frame": 265, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 265, "end_frame": 439, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 439, "end_frame": 709, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 709, "end_frame": 820, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 820, "end_frame": 962, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693177, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 22, "end_frame": 236, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 236, "end_frame": 394, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 394, "end_frame": 747, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 747, "end_frame": 877, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 877, "end_frame": 1001, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693183, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 28, "end_frame": 428, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 428, "end_frame": 576, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 576, "end_frame": 876, "action_text": "Retrieve pink soap from right material 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"start_frame": 380, "end_frame": 651, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 651, "end_frame": 762, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 762, "end_frame": 895, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693202, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 241, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 241, "end_frame": 395, "action_text": "Place the moisturizing oil held 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"start_frame": 209, "end_frame": 383, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 383, "end_frame": 644, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 644, "end_frame": 788, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 788, "end_frame": 939, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693219, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 25, "end_frame": 442, "action_text": "Retrieve moisturizing oil 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the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 257, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 257, "end_frame": 413, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 413, "end_frame": 669, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 669, "end_frame": 808, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 808, "end_frame": 932, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693233, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 378, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 378, "end_frame": 540, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 540, "end_frame": 753, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 753, "end_frame": 885, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 885, "end_frame": 1007, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [ { "start": 0, "end": 378, "description": "" } ] } }, { "episode_id": 693244, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 247, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 247, "end_frame": 396, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 396, "end_frame": 573, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 573, "end_frame": 780, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 780, "end_frame": 895, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693252, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 246, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 246, "end_frame": 424, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 424, "end_frame": 656, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 656, "end_frame": 801, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 801, "end_frame": 936, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693264, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 262, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 262, "end_frame": 408, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 408, "end_frame": 667, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 667, "end_frame": 804, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 804, "end_frame": 934, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693269, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 258, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 258, "end_frame": 401, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 401, "end_frame": 622, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 622, "end_frame": 754, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 754, "end_frame": 885, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693278, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 294, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 294, "end_frame": 439, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 439, "end_frame": 687, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 687, "end_frame": 801, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 801, "end_frame": 932, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693285, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 236, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 236, "end_frame": 356, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 356, "end_frame": 600, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 600, "end_frame": 744, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 744, "end_frame": 880, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693292, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 235, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 235, "end_frame": 365, "action_text": "Place the moisturizing oil held in the left arm 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"Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 240, "end_frame": 385, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 385, "end_frame": 597, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 597, "end_frame": 718, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 718, "end_frame": 856, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693313, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 264, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 264, "end_frame": 397, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 397, "end_frame": 622, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 622, "end_frame": 739, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 739, "end_frame": 863, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693319, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, 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"task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 278, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 278, "end_frame": 406, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 406, "end_frame": 633, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 633, "end_frame": 796, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 796, "end_frame": 944, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693339, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 284, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 284, "end_frame": 409, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 409, "end_frame": 637, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 637, "end_frame": 787, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 787, "end_frame": 913, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693347, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 234, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 234, "end_frame": 404, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 404, "end_frame": 662, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 662, "end_frame": 778, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 778, "end_frame": 908, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693355, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 234, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 234, "end_frame": 425, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 425, "end_frame": 689, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 689, "end_frame": 805, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 805, "end_frame": 935, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693359, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 246, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 246, "end_frame": 403, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 403, "end_frame": 664, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 664, "end_frame": 802, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 802, "end_frame": 945, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693366, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 248, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 248, "end_frame": 397, "action_text": "Place the moisturizing oil held in the left arm into the blue target box on the left.", "skill": "Place" }, { "start_frame": 397, "end_frame": 640, "action_text": "Retrieve pink soap from right material frame with the right arm.", "skill": "Pick" }, { "start_frame": 640, "end_frame": 761, "action_text": "Pass the pink soap with both hands.", "skill": "HandOver" }, { "start_frame": 761, "end_frame": 895, "action_text": "Place the pink soap held in the left arm into the blue target box on the left.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693374, "task_id": 365, "task_name": "Sort personal care products", "init_scene_text": "A robot stands in front of a table, on which there is a 3-grid material frame and a target frame, with the target frame on the left and the 3-grid material frame on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 230, "action_text": "Retrieve moisturizing oil from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 230, "end_frame": 362, "action_text": "Place the 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