[ { "episode_id": 658134, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 26, "end_frame": 410, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 410, "end_frame": 661, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 661, "end_frame": 893, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 893, "end_frame": 1073, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 1073, "end_frame": 1426, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658172, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 17, "end_frame": 454, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 454, "end_frame": 678, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 678, "end_frame": 927, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 927, "end_frame": 1096, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 1096, "end_frame": 1463, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658215, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 12, "end_frame": 371, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 371, "end_frame": 664, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 664, "end_frame": 912, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 912, "end_frame": 1082, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 1082, "end_frame": 1463, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658226, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 16, "end_frame": 450, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 450, "end_frame": 697, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 697, "end_frame": 927, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 927, "end_frame": 1105, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 1105, "end_frame": 1444, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658238, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 14, "end_frame": 447, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 447, "end_frame": 715, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 715, "end_frame": 974, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 974, "end_frame": 1112, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 1112, "end_frame": 1440, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658253, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 7, "end_frame": 432, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 432, "end_frame": 644, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 644, "end_frame": 873, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 873, "end_frame": 1066, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 1066, "end_frame": 1402, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658263, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 25, "end_frame": 486, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 486, "end_frame": 680, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 680, "end_frame": 894, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 894, "end_frame": 1060, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 1060, "end_frame": 1399, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658292, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 18, "end_frame": 460, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 460, "end_frame": 699, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 699, "end_frame": 889, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 889, "end_frame": 1040, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 1040, "end_frame": 1378, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658304, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 21, "end_frame": 419, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 419, "end_frame": 635, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 635, "end_frame": 853, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 853, "end_frame": 1024, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 1024, "end_frame": 1346, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658319, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 12, "end_frame": 394, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 394, "end_frame": 642, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 642, "end_frame": 862, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 862, "end_frame": 1027, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 1027, "end_frame": 1319, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658330, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 7, "end_frame": 450, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 450, "end_frame": 670, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 670, "end_frame": 896, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 896, "end_frame": 1046, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 1046, "end_frame": 1331, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658355, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 9, "end_frame": 445, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 445, "end_frame": 683, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 683, "end_frame": 912, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 912, "end_frame": 1066, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 1066, "end_frame": 1427, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658366, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 17, "end_frame": 442, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 442, "end_frame": 648, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 648, "end_frame": 851, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 851, "end_frame": 1003, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 1003, "end_frame": 1289, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658379, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 17, "end_frame": 408, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 408, "end_frame": 654, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 654, "end_frame": 826, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 826, "end_frame": 985, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 985, "end_frame": 1306, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658388, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 9, "end_frame": 415, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 415, "end_frame": 659, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 659, "end_frame": 874, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 874, "end_frame": 1045, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 1045, "end_frame": 1347, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658403, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 4, "end_frame": 434, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 434, "end_frame": 663, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 663, "end_frame": 864, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 864, "end_frame": 1003, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 1003, "end_frame": 1365, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658412, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 9, "end_frame": 490, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 490, "end_frame": 726, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 726, "end_frame": 897, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 897, "end_frame": 1068, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 1068, "end_frame": 1416, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658426, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 464, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 464, "end_frame": 693, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 693, "end_frame": 845, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 845, "end_frame": 988, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 988, "end_frame": 1340, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658448, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 437, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 437, "end_frame": 663, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 663, "end_frame": 938, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 938, "end_frame": 1065, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 1065, "end_frame": 1429, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658461, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 456, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 456, "end_frame": 686, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 686, "end_frame": 927, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 927, "end_frame": 1125, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 1125, "end_frame": 1462, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658475, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 22, "end_frame": 431, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 431, "end_frame": 648, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 648, "end_frame": 845, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 845, "end_frame": 1003, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 1003, "end_frame": 1301, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658487, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 449, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 449, "end_frame": 691, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 691, "end_frame": 891, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 891, "end_frame": 1056, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 1056, "end_frame": 1337, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658555, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 7, "end_frame": 468, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 468, "end_frame": 690, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 690, "end_frame": 903, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 903, "end_frame": 1070, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 1070, "end_frame": 1458, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658566, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 484, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 484, "end_frame": 784, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 784, "end_frame": 982, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 982, "end_frame": 1124, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 1124, "end_frame": 1444, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658575, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 7, "end_frame": 510, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 510, "end_frame": 785, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 785, "end_frame": 973, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 973, "end_frame": 1136, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 1136, "end_frame": 1451, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658587, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 18, "end_frame": 450, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 450, "end_frame": 684, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 684, "end_frame": 848, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 848, "end_frame": 986, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 986, "end_frame": 1304, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658620, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 19, "end_frame": 467, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 467, "end_frame": 650, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 650, "end_frame": 875, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 875, "end_frame": 1041, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 1041, "end_frame": 1368, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658677, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 4, "end_frame": 418, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 418, "end_frame": 613, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 613, "end_frame": 804, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 804, "end_frame": 933, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 933, "end_frame": 1262, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658699, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 4, "end_frame": 503, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 503, "end_frame": 722, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 722, "end_frame": 884, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 884, "end_frame": 1070, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 1070, "end_frame": 1372, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658713, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 16, "end_frame": 442, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 442, "end_frame": 678, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 678, "end_frame": 820, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 820, "end_frame": 971, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 971, "end_frame": 1346, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658725, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 11, "end_frame": 392, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 392, "end_frame": 601, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 601, "end_frame": 818, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 818, "end_frame": 978, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 978, "end_frame": 1317, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658745, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 14, "end_frame": 487, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 487, "end_frame": 730, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 730, "end_frame": 951, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 951, "end_frame": 1108, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 1108, "end_frame": 1393, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658760, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 4, "end_frame": 490, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 490, "end_frame": 716, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 716, "end_frame": 888, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 888, "end_frame": 1094, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 1094, "end_frame": 1441, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658824, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 6, "end_frame": 423, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 423, "end_frame": 625, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 625, "end_frame": 821, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 821, "end_frame": 975, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 975, "end_frame": 1408, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658836, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 16, "end_frame": 452, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 452, "end_frame": 699, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 699, "end_frame": 860, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 860, "end_frame": 1069, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 1069, "end_frame": 1450, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658849, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 22, "end_frame": 472, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 472, "end_frame": 755, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 755, "end_frame": 926, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 926, "end_frame": 1122, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 1122, "end_frame": 1474, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658867, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 9, "end_frame": 549, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 549, "end_frame": 776, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 776, "end_frame": 953, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 953, "end_frame": 1148, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 1148, "end_frame": 1470, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658879, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 15, "end_frame": 488, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 488, "end_frame": 738, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 738, "end_frame": 941, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 941, "end_frame": 1134, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 1134, "end_frame": 1480, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658903, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 420, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 420, "end_frame": 655, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 655, "end_frame": 880, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 880, "end_frame": 1074, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 1074, "end_frame": 1430, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658956, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 8, "end_frame": 401, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 401, "end_frame": 670, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 670, "end_frame": 862, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 862, "end_frame": 1045, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 1045, "end_frame": 1390, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658982, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 14, "end_frame": 412, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 412, "end_frame": 641, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 641, "end_frame": 784, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 784, "end_frame": 973, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 973, "end_frame": 1303, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 659003, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 13, "end_frame": 427, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 427, "end_frame": 723, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 723, "end_frame": 900, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 900, "end_frame": 1086, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 1086, "end_frame": 1455, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 659058, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 19, "end_frame": 400, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 400, "end_frame": 711, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 711, "end_frame": 908, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 908, "end_frame": 1100, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 1100, "end_frame": 1492, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 659096, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 22, "end_frame": 380, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 380, "end_frame": 656, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 656, "end_frame": 797, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 797, "end_frame": 991, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 991, "end_frame": 1461, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 659119, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 25, "end_frame": 427, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 427, "end_frame": 655, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 655, "end_frame": 817, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 817, "end_frame": 982, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 982, "end_frame": 1404, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 659144, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 23, "end_frame": 387, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 387, "end_frame": 694, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 694, "end_frame": 859, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 859, "end_frame": 1043, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 1043, "end_frame": 1485, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 659184, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 389, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 389, "end_frame": 650, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 650, "end_frame": 795, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 795, "end_frame": 939, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 939, "end_frame": 1339, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 659243, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 25, "end_frame": 371, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 371, "end_frame": 712, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 712, "end_frame": 894, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 894, "end_frame": 1067, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 1067, "end_frame": 1443, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 659277, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 19, "end_frame": 372, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 372, "end_frame": 579, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 579, "end_frame": 743, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 743, "end_frame": 863, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 863, "end_frame": 1356, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 659290, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 21, "end_frame": 395, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 395, "end_frame": 605, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 605, "end_frame": 789, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 789, "end_frame": 941, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 941, "end_frame": 1362, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 659303, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 360, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 360, "end_frame": 632, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 632, "end_frame": 801, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 801, "end_frame": 928, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 928, "end_frame": 1452, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723900, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 287, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 287, "end_frame": 510, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 510, "end_frame": 787, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 787, "end_frame": 985, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 985, "end_frame": 1139, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723939, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 12, "end_frame": 308, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 308, "end_frame": 539, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 539, "end_frame": 780, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 780, "end_frame": 1031, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 1031, "end_frame": 1213, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723951, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 234, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 234, "end_frame": 437, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 437, "end_frame": 675, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 675, "end_frame": 905, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 905, "end_frame": 1054, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723958, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 17, "end_frame": 264, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 264, "end_frame": 452, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 452, "end_frame": 649, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 649, "end_frame": 873, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 873, "end_frame": 1001, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723973, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 264, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 264, "end_frame": 488, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 488, "end_frame": 738, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 738, "end_frame": 953, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 953, "end_frame": 1127, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723984, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 21, "end_frame": 306, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 306, "end_frame": 569, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 569, "end_frame": 779, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 779, "end_frame": 1023, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 1023, "end_frame": 1195, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724002, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 21, "end_frame": 303, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 303, "end_frame": 504, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 504, "end_frame": 696, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 696, "end_frame": 959, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 959, "end_frame": 1088, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724023, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 27, "end_frame": 329, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 329, "end_frame": 518, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 518, "end_frame": 723, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 723, "end_frame": 984, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 984, "end_frame": 1131, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724044, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 40, "end_frame": 271, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 271, "end_frame": 454, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 454, "end_frame": 694, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 694, "end_frame": 947, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 947, "end_frame": 1164, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724067, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 17, "end_frame": 274, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 274, "end_frame": 463, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 463, "end_frame": 679, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 679, "end_frame": 868, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 868, "end_frame": 1006, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724084, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 35, "end_frame": 297, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 297, "end_frame": 446, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 446, "end_frame": 636, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 636, "end_frame": 888, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 888, "end_frame": 1026, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724104, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 22, "end_frame": 326, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 326, "end_frame": 543, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 543, "end_frame": 773, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 773, "end_frame": 979, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 979, "end_frame": 1118, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724113, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 28, "end_frame": 335, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 335, "end_frame": 557, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 557, "end_frame": 743, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 743, "end_frame": 966, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 966, "end_frame": 1109, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724124, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 23, "end_frame": 305, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 305, "end_frame": 542, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 542, "end_frame": 742, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 742, "end_frame": 1012, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 1012, "end_frame": 1138, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724138, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 32, "end_frame": 280, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 280, "end_frame": 518, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 518, "end_frame": 702, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 702, "end_frame": 967, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 967, "end_frame": 1112, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724146, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 29, "end_frame": 288, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 288, "end_frame": 505, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 505, "end_frame": 713, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 713, "end_frame": 991, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 991, "end_frame": 1169, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724153, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 29, "end_frame": 281, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 281, "end_frame": 450, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 450, "end_frame": 625, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 625, "end_frame": 823, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 823, "end_frame": 990, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724166, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 309, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 309, "end_frame": 471, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 471, "end_frame": 642, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 642, "end_frame": 776, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 776, "end_frame": 970, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724177, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 23, "end_frame": 287, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 287, "end_frame": 443, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 443, "end_frame": 601, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 601, "end_frame": 812, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 812, "end_frame": 969, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724204, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 298, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 298, "end_frame": 503, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 503, "end_frame": 729, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 729, "end_frame": 903, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 903, "end_frame": 1059, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724230, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 298, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 298, "end_frame": 560, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 560, "end_frame": 756, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 756, "end_frame": 964, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 964, "end_frame": 1112, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724244, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 270, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 270, "end_frame": 508, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 508, "end_frame": 696, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 696, "end_frame": 909, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 909, "end_frame": 1063, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724254, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 285, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 285, "end_frame": 479, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 479, "end_frame": 662, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 662, "end_frame": 815, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 815, "end_frame": 925, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724269, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 307, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 307, "end_frame": 487, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 487, "end_frame": 663, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 663, "end_frame": 819, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 819, "end_frame": 940, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724284, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 264, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 264, "end_frame": 484, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 484, "end_frame": 698, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 698, "end_frame": 897, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 897, "end_frame": 996, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724302, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 266, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 266, "end_frame": 429, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 429, "end_frame": 586, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 586, "end_frame": 794, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 794, "end_frame": 948, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724319, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 285, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 285, "end_frame": 482, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 482, "end_frame": 687, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 687, "end_frame": 845, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 845, "end_frame": 950, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724331, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 241, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 241, "end_frame": 433, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 433, "end_frame": 596, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 596, "end_frame": 762, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 762, "end_frame": 912, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724342, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 322, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 322, "end_frame": 532, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 532, "end_frame": 815, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 815, "end_frame": 1037, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 1037, "end_frame": 1163, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724352, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 260, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 260, "end_frame": 460, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 460, "end_frame": 677, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 677, "end_frame": 874, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 874, "end_frame": 985, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724363, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 283, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 283, "end_frame": 516, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 516, "end_frame": 756, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 756, "end_frame": 930, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 930, "end_frame": 1073, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724374, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 270, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 270, "end_frame": 503, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 503, "end_frame": 707, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 707, "end_frame": 918, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 918, "end_frame": 1051, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724392, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 269, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 269, "end_frame": 480, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 480, "end_frame": 688, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 688, "end_frame": 890, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 890, "end_frame": 997, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724398, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 248, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 248, "end_frame": 411, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 411, "end_frame": 590, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 590, "end_frame": 787, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 787, "end_frame": 902, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724419, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 283, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 283, "end_frame": 454, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 454, "end_frame": 659, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 659, "end_frame": 867, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 867, "end_frame": 992, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724431, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 237, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 237, "end_frame": 507, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 507, "end_frame": 688, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 688, "end_frame": 852, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 852, "end_frame": 975, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724479, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 272, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 272, "end_frame": 489, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 489, "end_frame": 700, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 700, "end_frame": 851, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 851, "end_frame": 970, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724489, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 218, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 218, "end_frame": 445, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 445, "end_frame": 627, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 627, "end_frame": 796, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 796, "end_frame": 905, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724499, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 256, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 256, "end_frame": 440, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 440, "end_frame": 599, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 599, "end_frame": 799, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 799, "end_frame": 943, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724505, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 270, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 270, "end_frame": 504, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 504, "end_frame": 735, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 735, "end_frame": 919, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 919, "end_frame": 1040, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724525, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 304, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 304, "end_frame": 469, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 469, "end_frame": 662, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 662, "end_frame": 835, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 835, "end_frame": 999, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724545, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 329, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 329, "end_frame": 578, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 578, "end_frame": 799, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 799, "end_frame": 983, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 983, "end_frame": 1135, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724566, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 329, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 329, "end_frame": 533, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 533, "end_frame": 755, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 755, "end_frame": 996, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 996, "end_frame": 1107, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724589, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 256, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 256, "end_frame": 474, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 474, "end_frame": 653, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 653, "end_frame": 816, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 816, "end_frame": 936, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724604, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 275, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 275, "end_frame": 456, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 456, "end_frame": 615, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 615, "end_frame": 817, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 817, "end_frame": 923, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724614, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 246, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 246, "end_frame": 450, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 450, "end_frame": 627, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 627, "end_frame": 785, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 785, "end_frame": 901, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724623, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 263, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 263, "end_frame": 452, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 452, "end_frame": 611, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 611, "end_frame": 761, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 761, "end_frame": 882, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724643, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 299, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 299, "end_frame": 481, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 481, "end_frame": 641, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 641, "end_frame": 801, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 801, "end_frame": 919, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724651, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 344, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 344, "end_frame": 521, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 521, "end_frame": 723, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 723, "end_frame": 868, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 868, "end_frame": 1037, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724663, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 281, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 281, "end_frame": 482, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 482, "end_frame": 653, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 653, "end_frame": 853, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 853, "end_frame": 965, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724673, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 356, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 356, "end_frame": 591, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 591, "end_frame": 797, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 797, "end_frame": 983, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 983, "end_frame": 1165, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724692, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 289, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 289, "end_frame": 488, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 488, "end_frame": 667, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 667, "end_frame": 851, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 851, "end_frame": 984, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724707, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 293, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 293, "end_frame": 461, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 461, "end_frame": 635, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 635, "end_frame": 787, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 787, "end_frame": 913, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724714, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 265, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 265, "end_frame": 454, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 454, "end_frame": 631, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 631, "end_frame": 829, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 829, "end_frame": 930, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724728, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 242, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 242, "end_frame": 421, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 421, "end_frame": 632, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 632, "end_frame": 816, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 816, "end_frame": 959, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724737, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 250, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 250, "end_frame": 449, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 449, "end_frame": 644, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 644, "end_frame": 818, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 818, "end_frame": 948, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724752, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 243, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 243, "end_frame": 442, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 442, "end_frame": 615, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 615, "end_frame": 769, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 769, "end_frame": 914, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724783, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 269, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 269, "end_frame": 426, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 426, "end_frame": 674, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 674, "end_frame": 797, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 797, "end_frame": 908, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724796, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 347, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 347, "end_frame": 541, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 541, "end_frame": 709, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 709, "end_frame": 890, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 890, "end_frame": 1061, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724810, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 291, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 291, "end_frame": 468, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 468, "end_frame": 647, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 647, "end_frame": 823, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 823, "end_frame": 968, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 724819, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 266, "action_text": "Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 266, "end_frame": 513, "action_text": "Place the small bag of wuchang rice held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 513, "end_frame": 671, "action_text": "Retrieve square bottle coffee from bottom left of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 671, "end_frame": 851, "action_text": "Pass the square bottle coffee with both hands.", "skill": "HandOver" }, { "start_frame": 851, "end_frame": 1037, "action_text": "Place the square bottle coffee held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 662374, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 21, "end_frame": 172, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 172, "end_frame": 343, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 343, "end_frame": 569, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 569, "end_frame": 757, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 757, "end_frame": 952, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 662503, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 45, "end_frame": 213, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 213, "end_frame": 424, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 424, "end_frame": 657, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 657, "end_frame": 840, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 840, "end_frame": 1029, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 662518, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 33, "end_frame": 211, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 211, "end_frame": 423, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 423, "end_frame": 879, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 879, "end_frame": 1097, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 1097, "end_frame": 1300, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [ { "start": 423, "end": 879, "description": "" } ] } }, { "episode_id": 662549, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 39, "end_frame": 220, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 220, "end_frame": 423, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 423, "end_frame": 657, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 657, "end_frame": 882, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 882, "end_frame": 1083, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 662557, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 14, "end_frame": 164, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 164, "end_frame": 336, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 336, "end_frame": 543, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 543, "end_frame": 744, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 744, "end_frame": 988, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 662571, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 45, "end_frame": 226, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 226, "end_frame": 393, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 393, "end_frame": 611, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 611, "end_frame": 894, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 894, "end_frame": 1083, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 662578, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 28, "end_frame": 215, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 215, "end_frame": 382, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 382, "end_frame": 624, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 624, "end_frame": 804, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 804, "end_frame": 1000, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 662602, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 38, "end_frame": 161, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 161, "end_frame": 328, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 328, "end_frame": 561, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 561, "end_frame": 804, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 804, "end_frame": 1118, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 662626, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 21, "end_frame": 178, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 178, "end_frame": 362, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 362, "end_frame": 743, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 743, "end_frame": 923, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 923, "end_frame": 1147, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [ { "start": 362, "end": 743, "description": "" } ] } }, { "episode_id": 662641, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 41, "end_frame": 239, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 239, "end_frame": 405, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 405, "end_frame": 610, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 610, "end_frame": 839, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 839, "end_frame": 1040, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 662653, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 16, "end_frame": 221, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 221, "end_frame": 399, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 399, "end_frame": 666, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 666, "end_frame": 896, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 896, "end_frame": 1082, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 662667, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 15, "end_frame": 180, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 180, "end_frame": 360, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 360, "end_frame": 557, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 557, "end_frame": 764, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 764, "end_frame": 992, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 662683, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 29, "end_frame": 181, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 181, "end_frame": 368, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 368, "end_frame": 565, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 565, "end_frame": 760, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 760, "end_frame": 975, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 662714, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 36, "end_frame": 215, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 215, "end_frame": 373, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 373, "end_frame": 576, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 576, "end_frame": 780, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 780, "end_frame": 1083, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 662732, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 31, "end_frame": 208, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 208, "end_frame": 351, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 351, "end_frame": 564, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 564, "end_frame": 794, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 794, "end_frame": 974, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 662744, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 23, "end_frame": 202, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 202, "end_frame": 362, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 362, "end_frame": 626, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 626, "end_frame": 837, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 837, "end_frame": 1030, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716493, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 38, "end_frame": 195, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 195, "end_frame": 367, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 367, "end_frame": 562, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 562, "end_frame": 736, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 736, "end_frame": 862, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716504, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 54, "end_frame": 234, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 234, "end_frame": 457, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 457, "end_frame": 676, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 676, "end_frame": 836, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 836, "end_frame": 986, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716510, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 55, "end_frame": 208, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 208, "end_frame": 375, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 375, "end_frame": 636, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 636, "end_frame": 804, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 804, "end_frame": 952, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716524, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 55, "end_frame": 213, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 213, "end_frame": 365, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 365, "end_frame": 614, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 614, "end_frame": 779, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 779, "end_frame": 922, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716531, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 76, "end_frame": 270, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 270, "end_frame": 417, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 417, "end_frame": 691, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 691, "end_frame": 847, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 847, "end_frame": 987, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716541, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 54, "end_frame": 267, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 267, "end_frame": 479, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 479, "end_frame": 700, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 700, "end_frame": 859, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 859, "end_frame": 1007, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716559, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 48, "end_frame": 194, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 194, "end_frame": 353, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 353, "end_frame": 533, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 533, "end_frame": 733, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 733, "end_frame": 919, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716565, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 54, "end_frame": 183, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 183, "end_frame": 377, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 377, "end_frame": 560, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 560, "end_frame": 738, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 738, "end_frame": 989, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716572, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 44, "end_frame": 186, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 186, "end_frame": 372, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 372, "end_frame": 596, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 596, "end_frame": 785, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 785, "end_frame": 927, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716593, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 70, "end_frame": 224, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 224, "end_frame": 401, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 401, "end_frame": 636, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 636, "end_frame": 780, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 780, "end_frame": 953, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716602, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 69, "end_frame": 225, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 225, "end_frame": 420, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 420, "end_frame": 590, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 590, "end_frame": 724, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 724, "end_frame": 894, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716611, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 52, "end_frame": 201, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 201, "end_frame": 445, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 445, "end_frame": 654, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 654, "end_frame": 836, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 836, "end_frame": 1006, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716618, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 41, "end_frame": 192, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 192, "end_frame": 356, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 356, "end_frame": 549, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 549, "end_frame": 676, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 676, "end_frame": 884, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716623, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 50, "end_frame": 186, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 186, "end_frame": 431, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 431, "end_frame": 643, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 643, "end_frame": 766, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 766, "end_frame": 926, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716630, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 57, "end_frame": 191, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 191, "end_frame": 404, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 404, "end_frame": 605, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 605, "end_frame": 748, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 748, "end_frame": 928, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716639, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 61, "end_frame": 206, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 206, "end_frame": 399, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 399, "end_frame": 564, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 564, "end_frame": 717, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 717, "end_frame": 842, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716645, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 57, "end_frame": 227, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 227, "end_frame": 516, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 516, "end_frame": 727, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 727, "end_frame": 881, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 881, "end_frame": 1009, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716664, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 60, "end_frame": 190, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 190, "end_frame": 391, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 391, "end_frame": 594, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 594, "end_frame": 727, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 727, "end_frame": 941, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716684, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 39, "end_frame": 159, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 159, "end_frame": 322, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 322, "end_frame": 492, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 492, "end_frame": 634, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 634, "end_frame": 795, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716691, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 29, "end_frame": 214, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 214, "end_frame": 431, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 431, "end_frame": 635, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 635, "end_frame": 813, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 813, "end_frame": 945, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716708, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 26, "end_frame": 202, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 202, "end_frame": 417, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 417, "end_frame": 591, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 591, "end_frame": 750, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 750, "end_frame": 938, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716715, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 71, "end_frame": 201, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 201, "end_frame": 384, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 384, "end_frame": 585, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 585, "end_frame": 727, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 727, "end_frame": 932, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716723, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 176, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 176, "end_frame": 427, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 427, "end_frame": 691, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 691, "end_frame": 837, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 837, "end_frame": 1006, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716732, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 28, "end_frame": 164, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 164, "end_frame": 346, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 346, "end_frame": 531, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 531, "end_frame": 693, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 693, "end_frame": 852, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716736, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 29, "end_frame": 205, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 205, "end_frame": 371, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 371, "end_frame": 540, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 540, "end_frame": 683, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 683, "end_frame": 884, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716743, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 44, "end_frame": 204, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 204, "end_frame": 394, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 394, "end_frame": 567, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 567, "end_frame": 703, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 703, "end_frame": 854, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716757, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 29, "end_frame": 186, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 186, "end_frame": 339, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 339, "end_frame": 555, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 555, "end_frame": 712, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 712, "end_frame": 857, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716765, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 26, "end_frame": 173, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 173, "end_frame": 385, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 385, "end_frame": 663, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 663, "end_frame": 832, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 832, "end_frame": 1011, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716876, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 33, "end_frame": 158, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 158, "end_frame": 304, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 304, "end_frame": 571, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 571, "end_frame": 736, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 736, "end_frame": 865, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716882, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 23, "end_frame": 176, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 176, "end_frame": 361, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 361, "end_frame": 642, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 642, "end_frame": 791, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 791, "end_frame": 1004, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716897, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 23, "end_frame": 206, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 206, "end_frame": 362, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 362, "end_frame": 583, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 583, "end_frame": 831, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 831, "end_frame": 1000, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716905, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 203, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 203, "end_frame": 442, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 442, "end_frame": 703, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 703, "end_frame": 900, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 900, "end_frame": 1009, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716913, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 41, "end_frame": 210, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 210, "end_frame": 405, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 405, "end_frame": 588, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 588, "end_frame": 748, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 748, "end_frame": 895, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716940, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 76, "end_frame": 309, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 309, "end_frame": 452, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 452, "end_frame": 652, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 652, "end_frame": 801, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 801, "end_frame": 958, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716948, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 39, "end_frame": 181, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 181, "end_frame": 347, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 347, "end_frame": 557, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 557, "end_frame": 709, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 709, "end_frame": 846, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716956, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 53, "end_frame": 171, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 171, "end_frame": 334, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 334, "end_frame": 559, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 559, "end_frame": 704, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 704, "end_frame": 852, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716960, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 46, "end_frame": 179, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 179, "end_frame": 347, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 347, "end_frame": 528, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 528, "end_frame": 675, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 675, "end_frame": 814, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716967, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 69, "end_frame": 213, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 213, "end_frame": 424, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 424, "end_frame": 649, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 649, "end_frame": 798, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 798, "end_frame": 941, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716994, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 60, "end_frame": 184, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 184, "end_frame": 308, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 308, "end_frame": 482, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 482, "end_frame": 619, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 619, "end_frame": 758, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716998, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 54, "end_frame": 169, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 169, "end_frame": 332, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 332, "end_frame": 489, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 489, "end_frame": 625, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 625, "end_frame": 758, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717001, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 48, "end_frame": 222, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 222, "end_frame": 375, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 375, "end_frame": 516, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 516, "end_frame": 710, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 710, "end_frame": 876, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717010, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 39, "end_frame": 191, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 191, "end_frame": 349, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 349, "end_frame": 539, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 539, "end_frame": 677, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 677, "end_frame": 807, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717018, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 28, "end_frame": 185, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 185, "end_frame": 345, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 345, "end_frame": 553, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 553, "end_frame": 763, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 763, "end_frame": 917, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717032, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 52, "end_frame": 176, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 176, "end_frame": 359, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 359, "end_frame": 572, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 572, "end_frame": 716, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 716, "end_frame": 898, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717036, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 34, "end_frame": 199, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 199, "end_frame": 388, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 388, "end_frame": 624, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 624, "end_frame": 789, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 789, "end_frame": 942, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717042, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 38, "end_frame": 165, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 165, "end_frame": 320, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 320, "end_frame": 460, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 460, "end_frame": 603, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 603, "end_frame": 733, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717057, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 40, "end_frame": 194, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 194, "end_frame": 355, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 355, "end_frame": 531, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 531, "end_frame": 657, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 657, "end_frame": 798, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717064, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 34, "end_frame": 181, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 181, "end_frame": 370, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 370, "end_frame": 566, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 566, "end_frame": 719, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 719, "end_frame": 873, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717073, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 32, "end_frame": 254, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 254, "end_frame": 496, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 496, "end_frame": 674, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 674, "end_frame": 825, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 825, "end_frame": 939, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717078, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 31, "end_frame": 228, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 228, "end_frame": 390, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 390, "end_frame": 630, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 630, "end_frame": 783, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 783, "end_frame": 933, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717085, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 44, "end_frame": 212, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 212, "end_frame": 347, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 347, "end_frame": 528, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 528, "end_frame": 681, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 681, "end_frame": 848, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717095, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 48, "end_frame": 279, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 279, "end_frame": 484, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 484, "end_frame": 743, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 743, "end_frame": 869, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 869, "end_frame": 1051, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717105, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 54, "end_frame": 279, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 279, "end_frame": 444, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 444, "end_frame": 648, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 648, "end_frame": 762, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 762, "end_frame": 907, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717109, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 45, "end_frame": 223, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 223, "end_frame": 413, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 413, "end_frame": 559, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 559, "end_frame": 736, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 736, "end_frame": 892, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717121, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 28, "end_frame": 170, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 170, "end_frame": 334, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 334, "end_frame": 544, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 544, "end_frame": 696, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 696, "end_frame": 841, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717129, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 33, "end_frame": 181, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 181, "end_frame": 371, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 371, "end_frame": 649, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 649, "end_frame": 806, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 806, "end_frame": 963, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717140, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 52, "end_frame": 201, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 201, "end_frame": 421, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 421, "end_frame": 600, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 600, "end_frame": 762, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 762, "end_frame": 923, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717153, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 217, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 217, "end_frame": 390, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 390, "end_frame": 597, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 597, "end_frame": 757, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 757, "end_frame": 916, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717159, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 36, "end_frame": 200, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 200, "end_frame": 378, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 378, "end_frame": 513, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 513, "end_frame": 665, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 665, "end_frame": 824, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717169, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 42, "end_frame": 214, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 214, "end_frame": 384, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 384, "end_frame": 591, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 591, "end_frame": 715, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 715, "end_frame": 877, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717175, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 43, "end_frame": 202, "action_text": "Retrieve blue cheers crisp from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 202, "end_frame": 381, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 381, "end_frame": 549, "action_text": "Retrieve spicy peanuts from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 549, "end_frame": 694, "action_text": "Pass the spicy peanuts with both hands.", "skill": "HandOver" }, { "start_frame": 694, "end_frame": 872, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657582, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 20, "end_frame": 291, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 291, "end_frame": 484, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 484, "end_frame": 625, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 625, "end_frame": 839, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 839, "end_frame": 1160, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657603, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 376, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 376, "end_frame": 501, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 501, "end_frame": 653, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 653, "end_frame": 858, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 858, "end_frame": 1112, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657726, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 56, "end_frame": 343, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 343, "end_frame": 509, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 509, "end_frame": 737, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 737, "end_frame": 1006, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 1006, "end_frame": 1379, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657739, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 41, "end_frame": 353, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 353, "end_frame": 508, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 508, "end_frame": 676, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 676, "end_frame": 919, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 919, "end_frame": 1247, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657827, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 37, "end_frame": 298, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 298, "end_frame": 445, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 445, "end_frame": 698, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 698, "end_frame": 971, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 971, "end_frame": 1312, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657858, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 26, "end_frame": 309, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 309, "end_frame": 492, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 492, "end_frame": 690, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 690, "end_frame": 873, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 873, "end_frame": 1130, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657987, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 32, "end_frame": 361, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 361, "end_frame": 538, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 538, "end_frame": 707, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 707, "end_frame": 924, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 924, "end_frame": 1212, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658063, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 312, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 312, "end_frame": 516, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 516, "end_frame": 703, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 703, "end_frame": 1142, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 1142, "end_frame": 1342, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658161, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 54, "end_frame": 298, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 298, "end_frame": 467, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 467, "end_frame": 690, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 690, "end_frame": 992, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 992, "end_frame": 1355, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658265, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 324, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 324, "end_frame": 495, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 495, "end_frame": 649, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 649, "end_frame": 882, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 882, "end_frame": 1085, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658291, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 392, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 392, "end_frame": 602, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 602, "end_frame": 748, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 748, "end_frame": 987, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 987, "end_frame": 1186, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658456, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 324, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 324, "end_frame": 495, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 495, "end_frame": 626, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 626, "end_frame": 890, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 890, "end_frame": 1122, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658595, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 281, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 281, "end_frame": 454, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 454, "end_frame": 606, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 606, "end_frame": 821, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 821, "end_frame": 1067, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658817, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 362, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 362, "end_frame": 526, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 526, "end_frame": 661, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 661, "end_frame": 885, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 885, "end_frame": 1051, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 659019, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 410, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 410, "end_frame": 603, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 603, "end_frame": 770, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 770, "end_frame": 1014, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 1014, "end_frame": 1203, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 659041, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 386, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 386, "end_frame": 600, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 600, "end_frame": 741, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 741, "end_frame": 928, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 928, "end_frame": 1109, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 659224, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 321, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 321, "end_frame": 522, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 522, "end_frame": 667, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 667, "end_frame": 890, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 890, "end_frame": 1080, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 659309, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 384, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 384, "end_frame": 623, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 623, "end_frame": 781, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 781, "end_frame": 971, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 971, "end_frame": 1161, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 665007, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 28, "end_frame": 173, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 173, "end_frame": 442, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 442, "end_frame": 809, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 809, "end_frame": 1035, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1035, "end_frame": 1242, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 665020, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 29, "end_frame": 181, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 181, "end_frame": 362, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 362, "end_frame": 692, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 692, "end_frame": 868, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 868, "end_frame": 1207, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [ { "start": 868, "end": 1207, "description": "" } ] } }, { "episode_id": 665156, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 26, "end_frame": 196, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 196, "end_frame": 408, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 408, "end_frame": 761, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 761, "end_frame": 1023, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1023, "end_frame": 1295, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 665225, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 31, "end_frame": 231, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 231, "end_frame": 426, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 426, "end_frame": 760, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 760, "end_frame": 1009, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1009, "end_frame": 1243, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 665266, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 37, "end_frame": 195, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 195, "end_frame": 382, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 382, "end_frame": 629, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 629, "end_frame": 944, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 944, "end_frame": 1412, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 665282, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 20, "end_frame": 191, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 191, "end_frame": 437, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 437, "end_frame": 753, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 753, "end_frame": 1186, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1186, "end_frame": 1372, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 665307, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 21, "end_frame": 221, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 221, "end_frame": 422, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 422, "end_frame": 754, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 754, "end_frame": 964, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 964, "end_frame": 1214, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 668487, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 26, "end_frame": 200, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 200, "end_frame": 442, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 442, "end_frame": 723, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 723, "end_frame": 1089, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1089, "end_frame": 1311, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 668501, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 31, "end_frame": 195, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 195, "end_frame": 369, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 369, "end_frame": 684, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 684, "end_frame": 912, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 912, "end_frame": 1205, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [ { "start": 369, "end": 684, "description": "" } ] } }, { "episode_id": 668509, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 30, "end_frame": 218, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 218, "end_frame": 438, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 438, "end_frame": 710, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 710, "end_frame": 1002, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1002, "end_frame": 1200, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 668524, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 25, "end_frame": 206, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 206, "end_frame": 405, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 405, "end_frame": 784, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 784, "end_frame": 1044, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1044, "end_frame": 1335, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 668556, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 12, "end_frame": 151, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 151, "end_frame": 321, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 321, "end_frame": 573, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 573, "end_frame": 884, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 884, "end_frame": 1084, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 668569, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 29, "end_frame": 187, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 187, "end_frame": 382, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 382, "end_frame": 620, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 620, "end_frame": 850, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 850, "end_frame": 1086, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 668583, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 200, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 200, "end_frame": 389, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 389, "end_frame": 590, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 590, "end_frame": 865, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 865, "end_frame": 1148, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 668597, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 32, "end_frame": 203, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 203, "end_frame": 418, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 418, "end_frame": 652, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 652, "end_frame": 929, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 929, "end_frame": 1214, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 668610, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 27, "end_frame": 288, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 288, "end_frame": 543, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 543, "end_frame": 773, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 773, "end_frame": 998, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 998, "end_frame": 1256, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 668617, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 30, "end_frame": 182, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 182, "end_frame": 391, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 391, "end_frame": 652, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 652, "end_frame": 949, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 949, "end_frame": 1231, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 668629, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 27, "end_frame": 185, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 185, "end_frame": 394, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 394, "end_frame": 631, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 631, "end_frame": 890, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 890, "end_frame": 1181, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 668640, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 36, "end_frame": 195, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 195, "end_frame": 393, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 393, "end_frame": 633, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 633, "end_frame": 876, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 876, "end_frame": 1094, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 668659, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 47, "end_frame": 272, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 272, "end_frame": 509, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 509, "end_frame": 713, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 713, "end_frame": 956, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 956, "end_frame": 1211, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 668680, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 21, "end_frame": 242, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 242, "end_frame": 462, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 462, "end_frame": 746, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 746, "end_frame": 1013, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1013, "end_frame": 1238, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 668753, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 32, "end_frame": 211, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 211, "end_frame": 414, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 414, "end_frame": 673, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 673, "end_frame": 918, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 918, "end_frame": 1212, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 668775, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 39, "end_frame": 207, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 207, "end_frame": 404, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 404, "end_frame": 708, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 708, "end_frame": 1010, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1010, "end_frame": 1277, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 668793, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 30, "end_frame": 200, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 200, "end_frame": 419, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 419, "end_frame": 711, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 711, "end_frame": 1001, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1001, "end_frame": 1291, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 718286, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 50, "end_frame": 193, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 193, "end_frame": 382, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 382, "end_frame": 841, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 841, "end_frame": 1111, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1111, "end_frame": 1351, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 718299, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 43, "end_frame": 189, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 189, "end_frame": 390, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 390, "end_frame": 698, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 698, "end_frame": 1102, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1102, "end_frame": 1310, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 718361, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 50, "end_frame": 218, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 218, "end_frame": 491, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 491, "end_frame": 893, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 893, "end_frame": 1086, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1086, "end_frame": 1314, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 718378, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 54, "end_frame": 216, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 216, "end_frame": 446, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 446, "end_frame": 851, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 851, "end_frame": 1184, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1184, "end_frame": 1435, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 718406, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 50, "end_frame": 186, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 186, "end_frame": 398, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 398, "end_frame": 917, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 917, "end_frame": 1234, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1234, "end_frame": 1501, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 718424, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 40, "end_frame": 174, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 174, "end_frame": 360, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 360, "end_frame": 798, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 798, "end_frame": 1029, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1029, "end_frame": 1234, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 718459, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 43, "end_frame": 213, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 213, "end_frame": 406, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 406, "end_frame": 784, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 784, "end_frame": 1059, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1059, "end_frame": 1249, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 718475, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 49, "end_frame": 181, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 181, "end_frame": 356, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 356, "end_frame": 708, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 708, "end_frame": 960, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 960, "end_frame": 1174, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 718489, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 37, "end_frame": 179, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 179, "end_frame": 327, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 327, "end_frame": 812, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 812, "end_frame": 1055, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1055, "end_frame": 1246, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 718500, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 40, "end_frame": 192, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 192, "end_frame": 387, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 387, "end_frame": 828, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 828, "end_frame": 1103, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1103, "end_frame": 1321, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 718515, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 36, "end_frame": 234, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 234, "end_frame": 404, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 404, "end_frame": 810, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 810, "end_frame": 1166, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1166, "end_frame": 1379, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 718525, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 52, "end_frame": 254, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 254, "end_frame": 442, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 442, "end_frame": 759, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 759, "end_frame": 1010, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1010, "end_frame": 1228, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 718539, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 61, "end_frame": 244, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 244, "end_frame": 416, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 416, "end_frame": 771, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 771, "end_frame": 1031, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1031, "end_frame": 1191, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 718568, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 54, "end_frame": 197, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 197, "end_frame": 388, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 388, "end_frame": 815, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 815, "end_frame": 1108, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1108, "end_frame": 1336, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 718574, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 49, "end_frame": 237, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 237, "end_frame": 416, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 416, "end_frame": 797, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 797, "end_frame": 1005, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1005, "end_frame": 1205, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 718587, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 57, "end_frame": 204, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 204, "end_frame": 450, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 450, "end_frame": 891, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 891, "end_frame": 1172, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1172, "end_frame": 1370, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 718596, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 49, "end_frame": 198, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 198, "end_frame": 403, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 403, "end_frame": 784, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 784, "end_frame": 1117, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1117, "end_frame": 1347, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 718608, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 48, "end_frame": 216, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 216, "end_frame": 399, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 399, "end_frame": 846, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 846, "end_frame": 1144, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1144, "end_frame": 1345, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 718626, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 43, "end_frame": 201, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 201, "end_frame": 353, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 353, "end_frame": 771, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 771, "end_frame": 1028, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1028, "end_frame": 1192, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 718674, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 42, "end_frame": 165, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 165, "end_frame": 363, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 363, "end_frame": 750, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 750, "end_frame": 1113, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1113, "end_frame": 1242, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 718690, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 35, "end_frame": 214, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 214, "end_frame": 397, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 397, "end_frame": 770, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 770, "end_frame": 1119, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1119, "end_frame": 1325, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 718719, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 33, "end_frame": 193, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 193, "end_frame": 377, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 377, "end_frame": 752, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 752, "end_frame": 1050, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1050, "end_frame": 1289, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 718744, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 35, "end_frame": 218, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 218, "end_frame": 433, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 433, "end_frame": 778, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 778, "end_frame": 1087, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1087, "end_frame": 1298, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 718754, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 182, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 182, "end_frame": 354, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 354, "end_frame": 722, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 722, "end_frame": 1070, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1070, "end_frame": 1278, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 718775, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 33, "end_frame": 194, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 194, "end_frame": 390, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 390, "end_frame": 836, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 836, "end_frame": 1252, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1252, "end_frame": 1443, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 722267, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 35, "end_frame": 180, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 180, "end_frame": 333, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 333, "end_frame": 691, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 691, "end_frame": 1029, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1029, "end_frame": 1239, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 722276, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 41, "end_frame": 184, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 184, "end_frame": 417, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 417, "end_frame": 852, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 852, "end_frame": 1170, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1170, "end_frame": 1349, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 722289, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 57, "end_frame": 188, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 188, "end_frame": 353, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 353, "end_frame": 715, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 715, "end_frame": 1000, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1000, "end_frame": 1186, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 722297, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 54, "end_frame": 190, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 190, "end_frame": 365, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 365, "end_frame": 868, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 868, "end_frame": 1103, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1103, "end_frame": 1337, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 722310, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 48, "end_frame": 223, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 223, "end_frame": 424, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 424, "end_frame": 985, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 985, "end_frame": 1241, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1241, "end_frame": 1397, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 722337, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 42, "end_frame": 220, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 220, "end_frame": 390, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 390, "end_frame": 807, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 807, "end_frame": 1177, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1177, "end_frame": 1344, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 722355, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 59, "end_frame": 255, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 255, "end_frame": 445, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 445, "end_frame": 945, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 945, "end_frame": 1246, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1246, "end_frame": 1403, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 722364, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 47, "end_frame": 191, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 191, "end_frame": 379, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 379, "end_frame": 727, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 727, "end_frame": 1140, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1140, "end_frame": 1321, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 722402, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 42, "end_frame": 186, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 186, "end_frame": 365, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 365, "end_frame": 788, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 788, "end_frame": 1199, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1199, "end_frame": 1319, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 722425, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 51, "end_frame": 181, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 181, "end_frame": 378, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 378, "end_frame": 802, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 802, "end_frame": 1119, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1119, "end_frame": 1330, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 722431, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 52, "end_frame": 208, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 208, "end_frame": 369, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 369, "end_frame": 823, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 823, "end_frame": 1106, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1106, "end_frame": 1284, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 722442, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 51, "end_frame": 194, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 194, "end_frame": 374, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 374, "end_frame": 783, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 783, "end_frame": 1036, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1036, "end_frame": 1217, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 722461, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 21, "end_frame": 191, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 191, "end_frame": 382, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 382, "end_frame": 813, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 813, "end_frame": 1081, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1081, "end_frame": 1264, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 722477, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 46, "end_frame": 205, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 205, "end_frame": 393, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 393, "end_frame": 836, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 836, "end_frame": 1070, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1070, "end_frame": 1226, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 722489, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 41, "end_frame": 168, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 168, "end_frame": 330, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 330, "end_frame": 788, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 788, "end_frame": 1020, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1020, "end_frame": 1160, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 722498, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 55, "end_frame": 214, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 214, "end_frame": 418, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 418, "end_frame": 865, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 865, "end_frame": 1230, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1230, "end_frame": 1412, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 722540, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 42, "end_frame": 197, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 197, "end_frame": 377, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 377, "end_frame": 740, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 740, "end_frame": 1023, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1023, "end_frame": 1195, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 722547, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 52, "end_frame": 208, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 208, "end_frame": 380, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 380, "end_frame": 801, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 801, "end_frame": 1123, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1123, "end_frame": 1267, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 722559, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 47, "end_frame": 173, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 173, "end_frame": 316, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 316, "end_frame": 794, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 794, "end_frame": 1178, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1178, "end_frame": 1372, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 722589, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 51, "end_frame": 209, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 209, "end_frame": 387, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 387, "end_frame": 754, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 754, "end_frame": 1116, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1116, "end_frame": 1282, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 722618, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 37, "end_frame": 199, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 199, "end_frame": 365, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 365, "end_frame": 771, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 771, "end_frame": 1074, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1074, "end_frame": 1264, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 722629, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 38, "end_frame": 223, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 223, "end_frame": 395, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 395, "end_frame": 804, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 804, "end_frame": 1136, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1136, "end_frame": 1347, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 722640, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 51, "end_frame": 225, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 225, "end_frame": 442, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 442, "end_frame": 926, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 926, "end_frame": 1226, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1226, "end_frame": 1491, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 722659, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 55, "end_frame": 288, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 288, "end_frame": 519, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 519, "end_frame": 955, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 955, "end_frame": 1340, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1340, "end_frame": 1480, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 722678, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 54, "end_frame": 190, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 190, "end_frame": 358, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 358, "end_frame": 733, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 733, "end_frame": 1176, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1176, "end_frame": 1354, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 722695, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 51, "end_frame": 235, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 235, "end_frame": 429, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 429, "end_frame": 855, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 855, "end_frame": 1220, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1220, "end_frame": 1426, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 722718, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 34, "end_frame": 192, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 192, "end_frame": 367, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 367, "end_frame": 738, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 738, "end_frame": 1058, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1058, "end_frame": 1204, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 722740, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 67, "end_frame": 207, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 207, "end_frame": 397, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 397, "end_frame": 834, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 834, "end_frame": 1133, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1133, "end_frame": 1301, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 722756, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 31, "end_frame": 215, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 215, "end_frame": 391, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 391, "end_frame": 807, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 807, "end_frame": 1130, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1130, "end_frame": 1304, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 722775, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 50, "end_frame": 267, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 267, "end_frame": 470, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 470, "end_frame": 898, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 898, "end_frame": 1157, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1157, "end_frame": 1305, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 722789, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 52, "end_frame": 172, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 172, "end_frame": 339, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 339, "end_frame": 683, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 683, "end_frame": 1113, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 1113, "end_frame": 1275, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 722803, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 45, "end_frame": 180, "action_text": "Retrieve small bottle of orange-flavored carbonated drink from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 180, "end_frame": 323, "action_text": "Place the small bottle of orange-flavored carbonated drink held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 323, "end_frame": 681, "action_text": "Retrieve instant coffee in a box from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 681, "end_frame": 930, "action_text": "Pass the instant coffee in a box with both hands.", "skill": "HandOver" }, { "start_frame": 930, "end_frame": 1091, "action_text": "Place the instant coffee in a box held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657793, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 196, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 196, "end_frame": 418, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 418, "end_frame": 616, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 616, "end_frame": 764, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 764, "end_frame": 1066, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657818, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 217, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 217, "end_frame": 405, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 405, "end_frame": 569, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 569, "end_frame": 726, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 726, "end_frame": 1007, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657861, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 247, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 247, "end_frame": 460, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 460, "end_frame": 661, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 661, "end_frame": 852, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 852, "end_frame": 1099, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657887, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 261, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 261, "end_frame": 441, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 441, "end_frame": 648, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 648, "end_frame": 813, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 813, "end_frame": 1153, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657900, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 288, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 288, "end_frame": 475, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 475, "end_frame": 707, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 707, "end_frame": 892, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 892, "end_frame": 1121, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657925, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 250, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 250, "end_frame": 434, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 434, "end_frame": 626, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 626, "end_frame": 798, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 798, "end_frame": 1060, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657977, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 239, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 239, "end_frame": 412, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 412, "end_frame": 572, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 572, "end_frame": 724, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 724, "end_frame": 1081, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658005, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 319, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 319, "end_frame": 551, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 551, "end_frame": 718, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 718, "end_frame": 882, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 882, "end_frame": 1066, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658522, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 256, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 256, "end_frame": 447, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 447, "end_frame": 629, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 629, "end_frame": 826, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 826, "end_frame": 1007, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658551, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 214, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 214, "end_frame": 400, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 400, "end_frame": 589, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 589, "end_frame": 778, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 778, "end_frame": 922, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658576, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 226, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 226, "end_frame": 388, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 388, "end_frame": 603, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 603, "end_frame": 764, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 764, "end_frame": 959, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658627, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 225, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 225, "end_frame": 405, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 405, "end_frame": 663, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 663, "end_frame": 826, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 826, "end_frame": 1067, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658647, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 239, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 239, "end_frame": 408, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 408, "end_frame": 658, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 658, "end_frame": 833, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 833, "end_frame": 1035, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658668, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 249, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 249, "end_frame": 451, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 451, "end_frame": 677, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 677, "end_frame": 845, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 845, "end_frame": 1079, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658682, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 226, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 226, "end_frame": 421, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 421, "end_frame": 654, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 654, "end_frame": 857, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 857, "end_frame": 1169, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658717, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 190, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 190, "end_frame": 362, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 362, "end_frame": 551, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 551, "end_frame": 707, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 707, "end_frame": 917, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658730, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 227, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 227, "end_frame": 403, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 403, "end_frame": 607, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 607, "end_frame": 765, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 765, "end_frame": 956, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658751, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 217, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 217, "end_frame": 407, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 407, "end_frame": 630, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 630, "end_frame": 805, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 805, "end_frame": 1077, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658770, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 219, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 219, "end_frame": 439, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 439, "end_frame": 640, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 640, "end_frame": 823, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 823, "end_frame": 1058, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658798, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 254, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 254, "end_frame": 444, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 444, "end_frame": 639, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 639, "end_frame": 829, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 829, "end_frame": 1080, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658830, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 206, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 206, "end_frame": 389, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 389, "end_frame": 639, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 639, "end_frame": 835, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 835, "end_frame": 1047, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658857, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 235, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 235, "end_frame": 467, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 467, "end_frame": 681, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 681, "end_frame": 857, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 857, "end_frame": 1153, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658871, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 219, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 219, "end_frame": 430, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 430, "end_frame": 680, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 680, "end_frame": 894, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 894, "end_frame": 1081, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658891, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 226, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 226, "end_frame": 440, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 440, "end_frame": 688, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 688, "end_frame": 902, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 902, "end_frame": 1173, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658918, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 288, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 288, "end_frame": 526, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 526, "end_frame": 777, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 777, "end_frame": 940, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 940, "end_frame": 1195, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658949, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 245, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 245, "end_frame": 436, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 436, "end_frame": 689, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 689, "end_frame": 907, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 907, "end_frame": 1098, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658965, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 230, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 230, "end_frame": 422, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 422, "end_frame": 690, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 690, "end_frame": 892, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 892, "end_frame": 1099, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658991, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 246, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 246, "end_frame": 469, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 469, "end_frame": 755, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 755, "end_frame": 959, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 959, "end_frame": 1171, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 659010, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 249, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 249, "end_frame": 479, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 479, "end_frame": 689, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 689, "end_frame": 859, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 859, "end_frame": 1106, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 659043, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 266, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 266, "end_frame": 450, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 450, "end_frame": 712, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 712, "end_frame": 904, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 904, "end_frame": 1147, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 659082, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 295, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 295, "end_frame": 465, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 465, "end_frame": 666, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 666, "end_frame": 859, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 859, "end_frame": 1125, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 659109, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 270, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 270, "end_frame": 453, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 453, "end_frame": 692, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 692, "end_frame": 834, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 834, "end_frame": 1064, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 659129, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 276, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 276, "end_frame": 490, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 490, "end_frame": 754, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 754, "end_frame": 925, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 925, "end_frame": 1152, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 659142, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 251, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 251, "end_frame": 455, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 455, "end_frame": 670, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 670, "end_frame": 866, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 866, "end_frame": 1096, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 659163, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 262, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 262, "end_frame": 459, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 459, "end_frame": 682, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 682, "end_frame": 905, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 905, "end_frame": 1159, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 659205, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 209, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 209, "end_frame": 397, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 397, "end_frame": 604, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 604, "end_frame": 884, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 884, "end_frame": 1039, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 659234, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 252, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 252, "end_frame": 453, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 453, "end_frame": 666, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 666, "end_frame": 823, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 823, "end_frame": 1095, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 659273, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 271, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 271, "end_frame": 477, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 477, "end_frame": 704, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 704, "end_frame": 896, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 896, "end_frame": 1078, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 659328, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 250, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 250, "end_frame": 432, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 432, "end_frame": 675, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 675, "end_frame": 874, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 874, "end_frame": 1074, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 659341, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 233, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 233, "end_frame": 420, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 420, "end_frame": 583, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 583, "end_frame": 806, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 806, "end_frame": 1003, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 722836, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 41, "end_frame": 276, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 276, "end_frame": 469, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 469, "end_frame": 758, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 758, "end_frame": 913, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 913, "end_frame": 1078, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 722846, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 51, "end_frame": 248, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 248, "end_frame": 473, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 473, "end_frame": 693, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 693, "end_frame": 891, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 891, "end_frame": 1081, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 722859, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 36, "end_frame": 288, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 288, "end_frame": 525, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 525, "end_frame": 809, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 809, "end_frame": 988, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 988, "end_frame": 1170, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 722865, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 43, "end_frame": 277, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 277, "end_frame": 503, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 503, "end_frame": 750, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 750, "end_frame": 924, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 924, "end_frame": 1130, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 722876, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 10, "end_frame": 203, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 203, "end_frame": 446, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 446, "end_frame": 696, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 696, "end_frame": 868, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 868, "end_frame": 1029, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 722886, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 38, "end_frame": 266, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 266, "end_frame": 423, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 423, "end_frame": 612, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 612, "end_frame": 776, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 776, "end_frame": 947, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 722917, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 32, "end_frame": 234, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 234, "end_frame": 438, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 438, "end_frame": 686, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 686, "end_frame": 824, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 824, "end_frame": 978, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 722929, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 50, "end_frame": 244, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 244, "end_frame": 421, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 421, "end_frame": 717, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 717, "end_frame": 846, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 846, "end_frame": 1071, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 722933, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 62, "end_frame": 251, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 251, "end_frame": 442, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 442, "end_frame": 673, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 673, "end_frame": 821, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 821, "end_frame": 993, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 722939, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 55, "end_frame": 238, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 238, "end_frame": 451, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 451, "end_frame": 793, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 793, "end_frame": 975, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 975, "end_frame": 1187, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 722996, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 74, "end_frame": 308, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 308, "end_frame": 493, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 493, "end_frame": 717, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 717, "end_frame": 886, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 886, "end_frame": 1062, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723010, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 58, "end_frame": 276, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 276, "end_frame": 465, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 465, "end_frame": 713, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 713, "end_frame": 871, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 871, "end_frame": 1075, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723019, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 38, "end_frame": 245, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 245, "end_frame": 436, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 436, "end_frame": 629, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 629, "end_frame": 787, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 787, "end_frame": 905, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723038, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 39, "end_frame": 240, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 240, "end_frame": 458, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 458, "end_frame": 783, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 783, "end_frame": 977, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 977, "end_frame": 1235, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723052, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 48, "end_frame": 318, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 318, "end_frame": 513, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 513, "end_frame": 723, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 723, "end_frame": 860, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 860, "end_frame": 1087, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723062, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 65, "end_frame": 302, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 302, "end_frame": 500, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 500, "end_frame": 720, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 720, "end_frame": 865, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 865, "end_frame": 1077, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723079, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 65, "end_frame": 274, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 274, "end_frame": 498, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 498, "end_frame": 738, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 738, "end_frame": 888, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 888, "end_frame": 1063, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723100, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 48, "end_frame": 257, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 257, "end_frame": 465, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 465, "end_frame": 818, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 818, "end_frame": 972, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 972, "end_frame": 1109, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723114, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 39, "end_frame": 302, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 302, "end_frame": 528, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 528, "end_frame": 936, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 936, "end_frame": 1136, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 1136, "end_frame": 1298, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723136, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 50, "end_frame": 256, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 256, "end_frame": 460, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 460, "end_frame": 659, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 659, "end_frame": 807, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 807, "end_frame": 961, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723142, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 41, "end_frame": 233, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 233, "end_frame": 435, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 435, "end_frame": 631, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 631, "end_frame": 755, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 755, "end_frame": 928, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723146, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 40, "end_frame": 263, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 263, "end_frame": 443, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 443, "end_frame": 650, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 650, "end_frame": 802, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 802, "end_frame": 964, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723155, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 55, "end_frame": 255, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 255, "end_frame": 434, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 434, "end_frame": 593, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 593, "end_frame": 741, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 741, "end_frame": 898, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723168, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 51, "end_frame": 275, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 275, "end_frame": 510, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 510, "end_frame": 713, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 713, "end_frame": 865, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 865, "end_frame": 1023, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723177, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 48, "end_frame": 257, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 257, "end_frame": 451, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 451, "end_frame": 659, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 659, "end_frame": 802, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 802, "end_frame": 969, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723189, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 53, "end_frame": 291, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 291, "end_frame": 478, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 478, "end_frame": 684, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 684, "end_frame": 808, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 808, "end_frame": 980, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723201, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 61, "end_frame": 252, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 252, "end_frame": 452, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 452, "end_frame": 645, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 645, "end_frame": 824, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 824, "end_frame": 1062, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723211, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 47, "end_frame": 264, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 264, "end_frame": 454, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 454, "end_frame": 616, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 616, "end_frame": 777, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 777, "end_frame": 934, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723230, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 41, "end_frame": 257, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 257, "end_frame": 430, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 430, "end_frame": 606, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 606, "end_frame": 762, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 762, "end_frame": 902, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723243, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 50, "end_frame": 218, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 218, "end_frame": 410, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 410, "end_frame": 650, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 650, "end_frame": 837, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 837, "end_frame": 996, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723249, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 60, "end_frame": 318, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 318, "end_frame": 481, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 481, "end_frame": 775, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 775, "end_frame": 958, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 958, "end_frame": 1169, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723263, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 48, "end_frame": 248, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 248, "end_frame": 388, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 388, "end_frame": 708, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 708, "end_frame": 849, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 849, "end_frame": 1053, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723270, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 50, "end_frame": 260, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 260, "end_frame": 464, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 464, "end_frame": 743, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 743, "end_frame": 920, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 920, "end_frame": 1113, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723286, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 57, "end_frame": 278, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 278, "end_frame": 445, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 445, "end_frame": 699, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 699, "end_frame": 840, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 840, "end_frame": 995, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723296, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 65, "end_frame": 305, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 305, "end_frame": 521, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 521, "end_frame": 720, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 720, "end_frame": 886, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 886, "end_frame": 1061, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723303, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 81, "end_frame": 284, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 284, "end_frame": 434, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 434, "end_frame": 773, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 773, "end_frame": 912, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 912, "end_frame": 1095, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723309, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 48, "end_frame": 290, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 290, "end_frame": 484, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 484, "end_frame": 792, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 792, "end_frame": 902, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 902, "end_frame": 1084, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723352, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 43, "end_frame": 224, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 224, "end_frame": 398, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 398, "end_frame": 572, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 572, "end_frame": 685, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 685, "end_frame": 813, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723380, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 54, "end_frame": 234, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 234, "end_frame": 398, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 398, "end_frame": 783, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 783, "end_frame": 933, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 933, "end_frame": 1069, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723387, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 41, "end_frame": 213, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 213, "end_frame": 357, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 357, "end_frame": 604, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 604, "end_frame": 743, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 743, "end_frame": 884, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723393, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 27, "end_frame": 230, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 230, "end_frame": 401, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 401, "end_frame": 595, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 595, "end_frame": 710, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 710, "end_frame": 833, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723415, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 34, "end_frame": 241, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 241, "end_frame": 418, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 418, "end_frame": 635, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 635, "end_frame": 765, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 765, "end_frame": 921, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723433, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 30, "end_frame": 253, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 253, "end_frame": 427, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 427, "end_frame": 645, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 645, "end_frame": 801, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 801, "end_frame": 944, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723447, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 51, "end_frame": 271, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 271, "end_frame": 452, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 452, "end_frame": 687, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 687, "end_frame": 874, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 874, "end_frame": 1031, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723456, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 34, "end_frame": 215, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 215, "end_frame": 390, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 390, "end_frame": 632, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 632, "end_frame": 756, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 756, "end_frame": 946, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723469, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 53, "end_frame": 260, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 260, "end_frame": 408, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 408, "end_frame": 638, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 638, "end_frame": 765, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 765, "end_frame": 921, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723478, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 21, "end_frame": 233, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 233, "end_frame": 397, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 397, "end_frame": 598, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 598, "end_frame": 746, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 746, "end_frame": 923, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723485, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 58, "end_frame": 290, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 290, "end_frame": 444, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 444, "end_frame": 632, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 632, "end_frame": 760, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 760, "end_frame": 909, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723493, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 40, "end_frame": 240, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 240, "end_frame": 393, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 393, "end_frame": 569, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 569, "end_frame": 715, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 715, "end_frame": 834, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723505, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 45, "end_frame": 279, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 279, "end_frame": 481, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 481, "end_frame": 677, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 677, "end_frame": 806, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 806, "end_frame": 984, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723515, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 33, "end_frame": 246, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 246, "end_frame": 388, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 388, "end_frame": 542, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 542, "end_frame": 682, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 682, "end_frame": 828, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723523, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 40, "end_frame": 227, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 227, "end_frame": 395, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 395, "end_frame": 553, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 553, "end_frame": 736, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 736, "end_frame": 912, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723533, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 34, "end_frame": 264, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 264, "end_frame": 430, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 430, "end_frame": 613, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 613, "end_frame": 722, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 722, "end_frame": 853, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723542, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 39, "end_frame": 267, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 267, "end_frame": 429, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 429, "end_frame": 599, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 599, "end_frame": 740, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 740, "end_frame": 934, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723554, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 37, "end_frame": 199, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 199, "end_frame": 348, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 348, "end_frame": 499, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 499, "end_frame": 684, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 684, "end_frame": 814, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723567, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 48, "end_frame": 213, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 213, "end_frame": 367, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 367, "end_frame": 603, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 603, "end_frame": 783, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 783, "end_frame": 916, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723581, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 39, "end_frame": 218, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 218, "end_frame": 389, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 389, "end_frame": 579, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 579, "end_frame": 732, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 732, "end_frame": 889, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723605, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 230, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 230, "end_frame": 404, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 404, "end_frame": 595, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 595, "end_frame": 722, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 722, "end_frame": 915, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723620, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 45, "end_frame": 241, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 241, "end_frame": 399, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 399, "end_frame": 610, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 610, "end_frame": 761, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 761, "end_frame": 926, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 723630, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 39, "end_frame": 256, "action_text": "Retrieve beverage from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 256, "end_frame": 441, "action_text": "Place the beverage held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 441, "end_frame": 690, "action_text": "Retrieve packaged concentrated coffee liquid from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 690, "end_frame": 836, "action_text": "Pass the packaged concentrated coffee liquid with both hands.", "skill": "HandOver" }, { "start_frame": 836, "end_frame": 995, "action_text": "Place the packaged concentrated coffee liquid held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 660381, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 356, "action_text": "Retrieve dried plum and tangerine peel cake from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 356, "end_frame": 528, "action_text": "Place the dried plum and tangerine peel cake held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 528, "end_frame": 813, "action_text": "Retrieve crispy potato chips from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 813, "end_frame": 1120, "action_text": "Pass the crispy potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 1120, "end_frame": 1451, "action_text": "Place the crispy potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 660422, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 281, "action_text": "Retrieve dried plum and tangerine peel cake from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 281, "end_frame": 456, "action_text": "Place the dried plum and tangerine peel cake held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 456, "end_frame": 735, "action_text": "Retrieve crispy potato chips from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 735, "end_frame": 1015, "action_text": "Pass the crispy potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 1015, "end_frame": 1333, "action_text": "Place the crispy potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 660435, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 276, "action_text": "Retrieve dried plum and tangerine peel cake from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 276, "end_frame": 510, "action_text": "Place the dried plum and tangerine peel cake held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 510, "end_frame": 748, "action_text": "Retrieve crispy potato chips from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 748, "end_frame": 1026, "action_text": "Pass the crispy potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 1026, "end_frame": 1370, "action_text": "Place the crispy potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 660447, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 282, "action_text": "Retrieve dried plum and tangerine peel cake from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 282, "end_frame": 487, "action_text": "Place the dried plum and tangerine peel cake held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 487, "end_frame": 757, "action_text": "Retrieve crispy potato chips from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 757, "end_frame": 1055, "action_text": "Pass the crispy potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 1055, "end_frame": 1405, "action_text": "Place the crispy potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 660460, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 324, "action_text": "Retrieve dried plum and tangerine peel cake from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 324, "end_frame": 581, "action_text": "Place the dried plum and tangerine peel cake held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 581, "end_frame": 832, "action_text": "Retrieve crispy potato chips from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 832, "end_frame": 1069, "action_text": "Pass the crispy potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 1069, "end_frame": 1402, "action_text": "Place the crispy potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 660472, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 279, "action_text": "Retrieve dried plum and tangerine peel cake from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 279, "end_frame": 479, "action_text": "Place the dried plum and tangerine peel cake held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 479, "end_frame": 763, "action_text": "Retrieve crispy potato chips from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 763, "end_frame": 1040, "action_text": "Pass the crispy potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 1040, "end_frame": 1385, "action_text": "Place the crispy potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 660486, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 350, "action_text": "Retrieve dried plum and tangerine peel cake from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 350, "end_frame": 650, "action_text": "Place the dried plum and tangerine peel cake held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 650, "end_frame": 874, "action_text": "Retrieve crispy potato chips from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 874, "end_frame": 1147, "action_text": "Pass the crispy potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 1147, "end_frame": 1369, "action_text": "Place the crispy potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [ { "start": 0, "end": 352, "description": "" } ] } }, { "episode_id": 666344, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 300, "action_text": "Retrieve dried plum and tangerine peel cake from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 300, "end_frame": 530, "action_text": "Place the dried plum and tangerine peel cake held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 530, "end_frame": 753, "action_text": "Retrieve crispy potato chips from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 753, "end_frame": 1042, "action_text": "Pass the crispy potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 1042, "end_frame": 1354, "action_text": "Place the crispy potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 666362, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 319, "action_text": "Retrieve dried plum and tangerine peel cake from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 319, "end_frame": 582, "action_text": "Place the dried plum and tangerine peel cake held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 582, "end_frame": 813, "action_text": "Retrieve crispy potato chips from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 813, "end_frame": 1056, "action_text": "Pass the crispy potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 1056, "end_frame": 1301, "action_text": "Place the crispy potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 666389, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 281, "action_text": "Retrieve dried plum and tangerine peel cake from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 281, "end_frame": 557, "action_text": "Place the dried plum and tangerine peel cake held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 557, "end_frame": 782, "action_text": "Retrieve crispy potato chips from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 782, "end_frame": 983, "action_text": "Pass the crispy potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 983, "end_frame": 1276, "action_text": "Place the crispy potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 666407, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 336, "action_text": "Retrieve dried plum and tangerine peel cake from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 336, "end_frame": 680, "action_text": "Place the dried plum and tangerine peel cake held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 680, "end_frame": 872, "action_text": "Retrieve crispy potato chips from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 872, "end_frame": 1085, "action_text": "Pass the crispy potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 1085, "end_frame": 1438, "action_text": "Place the crispy potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 666514, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 295, "action_text": "Retrieve dried plum and tangerine peel cake from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 295, "end_frame": 621, "action_text": "Place the dried plum and tangerine peel cake held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 621, "end_frame": 849, "action_text": "Retrieve crispy potato chips from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 849, "end_frame": 1071, "action_text": "Pass the crispy potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 1071, "end_frame": 1433, "action_text": "Place the crispy potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 666545, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 351, "action_text": "Retrieve dried plum and tangerine peel cake from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 351, "end_frame": 632, "action_text": "Place the dried plum and tangerine peel cake held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 632, "end_frame": 832, "action_text": "Retrieve crispy potato chips from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 832, "end_frame": 1058, "action_text": "Pass the crispy potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 1058, "end_frame": 1365, "action_text": "Place the crispy potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 666591, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 276, "action_text": "Retrieve dried plum and tangerine peel cake from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 276, "end_frame": 518, "action_text": "Place the dried plum and tangerine peel cake held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 518, "end_frame": 720, "action_text": "Retrieve crispy potato chips from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 720, "end_frame": 931, "action_text": "Pass the crispy potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 931, "end_frame": 1238, "action_text": "Place the crispy potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 666950, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 281, "action_text": "Retrieve dried plum and tangerine peel cake from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 281, "end_frame": 552, "action_text": "Place the dried plum and tangerine peel cake held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 552, "end_frame": 764, "action_text": "Retrieve crispy potato chips from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 764, "end_frame": 972, "action_text": "Pass the crispy potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 972, "end_frame": 1243, "action_text": "Place the crispy potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 667024, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 333, "action_text": "Retrieve dried plum and tangerine peel cake from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 333, "end_frame": 560, "action_text": "Place the dried plum and tangerine peel cake held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 560, "end_frame": 792, "action_text": "Retrieve crispy potato chips from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 792, "end_frame": 1036, "action_text": "Pass the crispy potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 1036, "end_frame": 1269, "action_text": "Place the crispy potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 667034, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 303, "action_text": "Retrieve dried plum and tangerine peel cake from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 303, "end_frame": 574, "action_text": "Place the dried plum and tangerine peel cake held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 574, "end_frame": 773, "action_text": "Retrieve crispy potato chips from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 773, "end_frame": 1021, "action_text": "Pass the crispy potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 1021, "end_frame": 1346, "action_text": "Place the crispy potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 667148, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 303, "action_text": "Retrieve dried plum and tangerine peel cake from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 303, "end_frame": 526, "action_text": "Place the dried plum and tangerine peel cake held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 526, "end_frame": 704, "action_text": "Retrieve crispy potato chips from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 704, "end_frame": 868, "action_text": "Pass the crispy potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 868, "end_frame": 1081, "action_text": "Place the crispy potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 667918, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 279, "action_text": "Retrieve dried plum and tangerine peel cake from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 279, "end_frame": 457, "action_text": "Place the dried plum and tangerine peel cake held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 457, "end_frame": 655, "action_text": "Retrieve crispy potato chips from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 655, "end_frame": 865, "action_text": "Pass the crispy potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 865, "end_frame": 1140, "action_text": "Place the crispy potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 667968, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 306, "action_text": "Retrieve dried plum and tangerine peel cake from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 306, "end_frame": 524, "action_text": "Place the dried plum and tangerine peel cake held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 524, "end_frame": 696, "action_text": "Retrieve crispy potato chips from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 696, "end_frame": 889, "action_text": "Pass the crispy potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 889, "end_frame": 1153, "action_text": "Place the crispy potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 667976, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 335, "action_text": "Retrieve dried plum and tangerine peel cake from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 335, "end_frame": 558, "action_text": "Place the dried plum and tangerine peel cake held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 558, "end_frame": 727, "action_text": "Retrieve crispy potato chips from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 727, "end_frame": 940, "action_text": "Pass the crispy potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 940, "end_frame": 1215, "action_text": "Place the crispy potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 725170, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 215, "action_text": "Retrieve dried plum and tangerine peel cake from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 215, "end_frame": 423, "action_text": "Place the dried plum and tangerine peel cake held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 423, "end_frame": 596, "action_text": "Retrieve crispy potato chips from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 596, "end_frame": 732, "action_text": "Pass the crispy potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 732, "end_frame": 856, "action_text": "Place the crispy potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 725189, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 215, "action_text": "Retrieve dried plum and tangerine peel cake from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 215, "end_frame": 449, "action_text": "Place the dried plum and tangerine peel cake held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 449, "end_frame": 620, "action_text": "Retrieve crispy potato chips from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 620, "end_frame": 780, "action_text": "Pass the crispy potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 780, "end_frame": 895, "action_text": "Place the crispy potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 725207, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 220, "action_text": "Retrieve dried plum and tangerine peel cake from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 220, "end_frame": 406, "action_text": "Place the dried plum and tangerine peel cake held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 406, "end_frame": 566, "action_text": "Retrieve crispy potato chips from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 566, "end_frame": 755, "action_text": "Pass the crispy potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 755, "end_frame": 848, "action_text": "Place the crispy potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 725219, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 263, "action_text": "Retrieve dried plum and tangerine peel cake from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 263, "end_frame": 418, "action_text": "Place the dried plum and tangerine peel cake held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 418, "end_frame": 592, "action_text": "Retrieve crispy potato chips from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 592, "end_frame": 785, "action_text": "Pass the crispy potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 785, "end_frame": 896, "action_text": "Place the crispy potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 725231, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 247, "action_text": "Retrieve dried plum and tangerine peel cake from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 247, "end_frame": 370, "action_text": "Place the dried plum and tangerine peel cake held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 370, "end_frame": 567, "action_text": "Retrieve crispy potato chips from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 567, "end_frame": 720, "action_text": "Pass the crispy potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 720, "end_frame": 839, "action_text": "Place the crispy potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 725248, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 220, "action_text": "Retrieve dried plum and tangerine peel cake from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 220, "end_frame": 402, "action_text": "Place the dried plum and tangerine peel cake held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 402, "end_frame": 608, "action_text": "Retrieve crispy potato chips from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 608, "end_frame": 749, "action_text": "Pass the crispy potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 749, "end_frame": 859, "action_text": "Place the crispy potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 725261, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 262, "action_text": "Retrieve dried plum and tangerine peel cake from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 262, "end_frame": 417, "action_text": "Place the dried plum and tangerine peel cake held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 417, "end_frame": 617, "action_text": "Retrieve crispy potato chips from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 617, "end_frame": 776, "action_text": "Pass the crispy potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 776, "end_frame": 893, "action_text": "Place the crispy potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 725270, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 223, "action_text": "Retrieve dried plum and tangerine peel cake from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 223, "end_frame": 377, "action_text": "Place the dried plum and tangerine peel cake held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 377, "end_frame": 575, "action_text": "Retrieve crispy potato chips from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 575, "end_frame": 770, "action_text": "Pass the crispy potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 770, "end_frame": 879, "action_text": "Place the crispy potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 725280, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 223, "action_text": "Retrieve dried plum and tangerine peel cake from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 223, "end_frame": 387, "action_text": "Place the dried plum and tangerine peel cake held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 387, "end_frame": 564, "action_text": "Retrieve crispy potato chips from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 564, "end_frame": 712, "action_text": "Pass the crispy potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 712, "end_frame": 859, "action_text": "Place the crispy potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 725289, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 227, "action_text": "Retrieve dried plum and tangerine peel cake from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 227, "end_frame": 367, "action_text": "Place the dried plum and tangerine peel cake held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 367, "end_frame": 551, "action_text": "Retrieve crispy potato chips from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 551, "end_frame": 710, "action_text": "Pass the crispy potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 710, "end_frame": 810, "action_text": "Place the crispy potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 725300, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 231, "action_text": "Retrieve dried plum and tangerine peel cake from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 231, "end_frame": 413, "action_text": "Place the dried plum and tangerine peel cake held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 413, "end_frame": 578, "action_text": "Retrieve crispy potato chips from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 578, "end_frame": 722, "action_text": "Pass the crispy potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 722, "end_frame": 828, "action_text": "Place the crispy potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 725320, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 235, "action_text": "Retrieve dried plum and tangerine peel cake from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 235, "end_frame": 401, "action_text": "Place the dried plum and tangerine peel cake held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 401, "end_frame": 558, "action_text": "Retrieve crispy potato chips from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 558, "end_frame": 729, "action_text": "Pass the crispy potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 729, "end_frame": 892, "action_text": "Place the crispy potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 725335, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 297, "action_text": "Retrieve dried plum and tangerine peel cake from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 297, "end_frame": 481, "action_text": "Place the dried plum and tangerine peel cake held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 481, "end_frame": 686, "action_text": "Retrieve crispy potato chips from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 686, "end_frame": 873, "action_text": "Pass the crispy potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 873, "end_frame": 1091, "action_text": "Place the crispy potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 725349, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 211, "action_text": "Retrieve dried plum and tangerine peel cake from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 211, "end_frame": 374, "action_text": "Place the dried plum and tangerine peel cake held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 374, "end_frame": 541, "action_text": "Retrieve crispy potato chips from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 541, "end_frame": 704, "action_text": "Pass the crispy potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 704, "end_frame": 825, "action_text": "Place the crispy potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 725361, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 242, "action_text": "Retrieve dried plum and tangerine peel cake from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 242, "end_frame": 375, "action_text": "Place the dried plum and tangerine peel cake held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 375, "end_frame": 607, "action_text": "Retrieve crispy potato chips from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 607, "end_frame": 776, "action_text": "Pass the crispy potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 776, "end_frame": 982, "action_text": "Place the crispy potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 725367, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 204, "action_text": "Retrieve dried plum and tangerine peel cake from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 204, "end_frame": 366, "action_text": "Place the dried plum and tangerine peel cake held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 366, "end_frame": 553, "action_text": "Retrieve crispy potato chips from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 553, "end_frame": 696, "action_text": "Pass the crispy potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 696, "end_frame": 827, "action_text": "Place the crispy potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 656910, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 32, "end_frame": 324, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 324, "end_frame": 506, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 506, "end_frame": 864, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 864, "end_frame": 1152, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 1152, "end_frame": 1440, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658294, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 19, "end_frame": 243, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 243, "end_frame": 422, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 422, "end_frame": 689, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 689, "end_frame": 914, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 914, "end_frame": 1176, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658329, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 21, "end_frame": 254, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 254, "end_frame": 429, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 429, "end_frame": 659, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 659, "end_frame": 913, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 913, "end_frame": 1155, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717214, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 45, "end_frame": 222, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 222, "end_frame": 391, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 391, "end_frame": 868, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 868, "end_frame": 1010, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 1010, "end_frame": 1137, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717230, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 30, "end_frame": 228, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 228, "end_frame": 416, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 416, "end_frame": 629, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 629, "end_frame": 828, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 828, "end_frame": 1015, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717258, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 40, "end_frame": 285, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 285, "end_frame": 497, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 497, "end_frame": 757, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 757, "end_frame": 936, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 936, "end_frame": 1115, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717265, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 47, "end_frame": 346, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 346, "end_frame": 600, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 600, "end_frame": 828, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 828, "end_frame": 996, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 996, "end_frame": 1212, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717274, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 42, "end_frame": 328, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 328, "end_frame": 542, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 542, "end_frame": 736, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 736, "end_frame": 863, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 863, "end_frame": 1046, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717285, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 42, "end_frame": 356, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 356, "end_frame": 606, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 606, "end_frame": 866, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 866, "end_frame": 1028, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 1028, "end_frame": 1233, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717291, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 48, "end_frame": 287, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 287, "end_frame": 534, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 534, "end_frame": 799, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 799, "end_frame": 934, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 934, "end_frame": 1119, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717314, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 50, "end_frame": 324, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 324, "end_frame": 562, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 562, "end_frame": 741, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 741, "end_frame": 865, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 865, "end_frame": 1120, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717327, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 40, "end_frame": 270, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 270, "end_frame": 456, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 456, "end_frame": 675, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 675, "end_frame": 813, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 813, "end_frame": 1075, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717335, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 53, "end_frame": 311, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 311, "end_frame": 500, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 500, "end_frame": 715, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 715, "end_frame": 857, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 857, "end_frame": 1094, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717344, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 58, "end_frame": 318, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 318, "end_frame": 558, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 558, "end_frame": 756, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 756, "end_frame": 894, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 894, "end_frame": 1026, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717354, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 59, "end_frame": 327, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 327, "end_frame": 546, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 546, "end_frame": 879, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 879, "end_frame": 1009, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 1009, "end_frame": 1256, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717371, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 43, "end_frame": 286, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 286, "end_frame": 477, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 477, "end_frame": 632, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 632, "end_frame": 777, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 777, "end_frame": 931, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717377, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 42, "end_frame": 276, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 276, "end_frame": 488, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 488, "end_frame": 678, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 678, "end_frame": 817, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 817, "end_frame": 961, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717396, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 41, "end_frame": 249, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 249, "end_frame": 446, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 446, "end_frame": 597, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 597, "end_frame": 782, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 782, "end_frame": 965, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717403, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 48, "end_frame": 314, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 314, "end_frame": 544, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 544, "end_frame": 796, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 796, "end_frame": 929, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 929, "end_frame": 1057, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717414, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 36, "end_frame": 283, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 283, "end_frame": 492, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 492, "end_frame": 800, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 800, "end_frame": 949, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 949, "end_frame": 1127, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717422, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 47, "end_frame": 249, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 249, "end_frame": 435, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 435, "end_frame": 679, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 679, "end_frame": 803, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 803, "end_frame": 968, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717431, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 35, "end_frame": 230, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 230, "end_frame": 454, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 454, "end_frame": 677, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 677, "end_frame": 820, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 820, "end_frame": 976, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717613, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 45, "end_frame": 363, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 363, "end_frame": 575, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 575, "end_frame": 770, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 770, "end_frame": 992, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 992, "end_frame": 1122, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717626, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 54, "end_frame": 311, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 311, "end_frame": 549, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 549, "end_frame": 791, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 791, "end_frame": 945, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 945, "end_frame": 1075, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717635, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 73, "end_frame": 309, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 309, "end_frame": 493, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 493, "end_frame": 750, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 750, "end_frame": 891, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 891, "end_frame": 1104, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717644, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 26, "end_frame": 283, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 283, "end_frame": 475, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 475, "end_frame": 638, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 638, "end_frame": 823, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 823, "end_frame": 974, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717653, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 38, "end_frame": 316, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 316, "end_frame": 479, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 479, "end_frame": 661, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 661, "end_frame": 778, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 778, "end_frame": 911, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717661, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 13, "end_frame": 327, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 327, "end_frame": 565, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 565, "end_frame": 772, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 772, "end_frame": 932, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 932, "end_frame": 1063, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717669, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 66, "end_frame": 279, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 279, "end_frame": 532, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 532, "end_frame": 756, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 756, "end_frame": 888, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 888, "end_frame": 1087, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717678, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 30, "end_frame": 279, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 279, "end_frame": 458, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 458, "end_frame": 765, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 765, "end_frame": 900, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 900, "end_frame": 1087, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717696, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 35, "end_frame": 337, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 337, "end_frame": 584, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 584, "end_frame": 886, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 886, "end_frame": 1089, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 1089, "end_frame": 1273, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717709, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 51, "end_frame": 409, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 409, "end_frame": 649, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 649, "end_frame": 872, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 872, "end_frame": 1046, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 1046, "end_frame": 1227, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717721, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 34, "end_frame": 340, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 340, "end_frame": 636, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 636, "end_frame": 823, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 823, "end_frame": 968, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 968, "end_frame": 1098, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717730, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 296, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 296, "end_frame": 540, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 540, "end_frame": 745, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 745, "end_frame": 902, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 902, "end_frame": 1055, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717743, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 40, "end_frame": 289, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 289, "end_frame": 501, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 501, "end_frame": 679, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 679, "end_frame": 842, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 842, "end_frame": 1037, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717754, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 274, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 274, "end_frame": 444, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 444, "end_frame": 628, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 628, "end_frame": 796, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 796, "end_frame": 992, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717763, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 28, "end_frame": 287, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 287, "end_frame": 483, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 483, "end_frame": 757, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 757, "end_frame": 902, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 902, "end_frame": 1071, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717772, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 45, "end_frame": 318, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 318, "end_frame": 569, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 569, "end_frame": 753, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 753, "end_frame": 898, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 898, "end_frame": 1038, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717782, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 36, "end_frame": 275, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 275, "end_frame": 504, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 504, "end_frame": 687, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 687, "end_frame": 840, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 840, "end_frame": 989, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717791, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 36, "end_frame": 275, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 275, "end_frame": 469, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 469, "end_frame": 629, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 629, "end_frame": 790, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 790, "end_frame": 948, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717798, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 19, "end_frame": 255, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 255, "end_frame": 481, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 481, "end_frame": 650, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 650, "end_frame": 802, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 802, "end_frame": 940, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717804, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 49, "end_frame": 252, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 252, "end_frame": 463, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 463, "end_frame": 672, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 672, "end_frame": 813, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 813, "end_frame": 999, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717822, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 33, "end_frame": 401, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 401, "end_frame": 590, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 590, "end_frame": 819, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 819, "end_frame": 958, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 958, "end_frame": 1092, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717830, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 54, "end_frame": 273, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 273, "end_frame": 452, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 452, "end_frame": 641, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 641, "end_frame": 748, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 748, "end_frame": 877, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717838, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 44, "end_frame": 292, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 292, "end_frame": 469, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 469, "end_frame": 673, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 673, "end_frame": 825, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 825, "end_frame": 964, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717846, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 42, "end_frame": 250, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 250, "end_frame": 464, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 464, "end_frame": 717, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 717, "end_frame": 837, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 837, "end_frame": 1026, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717860, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 40, "end_frame": 340, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 340, "end_frame": 577, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 577, "end_frame": 810, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 810, "end_frame": 942, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 942, "end_frame": 1113, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717876, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 53, "end_frame": 334, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 334, "end_frame": 578, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 578, "end_frame": 768, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 768, "end_frame": 929, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 929, "end_frame": 1122, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717882, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 54, "end_frame": 249, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 249, "end_frame": 494, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 494, "end_frame": 719, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 719, "end_frame": 848, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 848, "end_frame": 1049, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717896, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 56, "end_frame": 262, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 262, "end_frame": 522, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 522, "end_frame": 708, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 708, "end_frame": 859, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 859, "end_frame": 1017, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717902, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 60, "end_frame": 321, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 321, "end_frame": 546, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 546, "end_frame": 758, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 758, "end_frame": 892, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 892, "end_frame": 1080, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717917, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 44, "end_frame": 285, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 285, "end_frame": 490, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 490, "end_frame": 668, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 668, "end_frame": 832, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 832, "end_frame": 1015, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717927, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 57, "end_frame": 308, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 308, "end_frame": 554, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 554, "end_frame": 766, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 766, "end_frame": 904, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 904, "end_frame": 1069, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717937, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 80, "end_frame": 326, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 326, "end_frame": 529, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 529, "end_frame": 708, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 708, "end_frame": 823, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 823, "end_frame": 1003, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717948, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 46, "end_frame": 247, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 247, "end_frame": 455, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 455, "end_frame": 765, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 765, "end_frame": 885, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 885, "end_frame": 1033, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717958, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 58, "end_frame": 282, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 282, "end_frame": 496, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 496, "end_frame": 692, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 692, "end_frame": 812, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 812, "end_frame": 975, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717978, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 52, "end_frame": 310, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 310, "end_frame": 502, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 502, "end_frame": 727, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 727, "end_frame": 851, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 851, "end_frame": 1017, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717985, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 100, "end_frame": 368, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 368, "end_frame": 574, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 574, "end_frame": 751, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 751, "end_frame": 893, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 893, "end_frame": 1015, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 717997, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 41, "end_frame": 315, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 315, "end_frame": 528, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 528, "end_frame": 690, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 690, "end_frame": 865, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 865, "end_frame": 1200, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 718005, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 41, "end_frame": 263, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 263, "end_frame": 477, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 477, "end_frame": 667, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 667, "end_frame": 787, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 787, "end_frame": 927, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 718009, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 46, "end_frame": 287, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 287, "end_frame": 461, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 461, "end_frame": 655, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 655, "end_frame": 787, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 787, "end_frame": 961, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 718021, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 54, "end_frame": 311, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 311, "end_frame": 508, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 508, "end_frame": 683, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 683, "end_frame": 805, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 805, "end_frame": 947, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 718039, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 59, "end_frame": 326, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 326, "end_frame": 532, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 532, "end_frame": 716, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 716, "end_frame": 846, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 846, "end_frame": 1000, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 718050, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 35, "end_frame": 225, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 225, "end_frame": 408, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 408, "end_frame": 579, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 579, "end_frame": 766, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 766, "end_frame": 905, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 718060, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 39, "end_frame": 244, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 244, "end_frame": 494, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 494, "end_frame": 743, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 743, "end_frame": 876, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 876, "end_frame": 1008, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 718069, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 41, "end_frame": 265, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 265, "end_frame": 440, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 440, "end_frame": 667, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 667, "end_frame": 812, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 812, "end_frame": 967, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 718075, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 33, "end_frame": 252, "action_text": "Retrieve sunflower seeds from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 252, "end_frame": 464, "action_text": "Place the sunflower seeds held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 464, "end_frame": 676, "action_text": "Retrieve spicy red duck neck from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 676, "end_frame": 778, "action_text": "Pass the spicy red duck neck with both hands.", "skill": "HandOver" }, { "start_frame": 778, "end_frame": 938, "action_text": "Place the spicy red duck neck held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 656861, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 296, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 296, "end_frame": 592, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 592, "end_frame": 800, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 800, "end_frame": 1134, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 1134, "end_frame": 1481, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 656884, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 28, "end_frame": 297, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 297, "end_frame": 560, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 560, "end_frame": 891, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 891, "end_frame": 1071, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 1071, "end_frame": 1425, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 656908, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 22, "end_frame": 273, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 273, "end_frame": 478, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 478, "end_frame": 728, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 728, "end_frame": 885, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 885, "end_frame": 1321, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 656933, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 20, "end_frame": 267, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 267, "end_frame": 551, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 551, "end_frame": 803, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 803, "end_frame": 945, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 945, "end_frame": 1375, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 656960, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 22, "end_frame": 262, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 262, "end_frame": 469, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 469, "end_frame": 716, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 716, "end_frame": 874, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 874, "end_frame": 1354, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 656991, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 27, "end_frame": 221, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 221, "end_frame": 457, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 457, "end_frame": 675, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 675, "end_frame": 872, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 872, "end_frame": 1385, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657006, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 42, "end_frame": 226, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 226, "end_frame": 403, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 403, "end_frame": 688, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 688, "end_frame": 909, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 909, "end_frame": 1321, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657107, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 26, "end_frame": 233, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 233, "end_frame": 428, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 428, "end_frame": 742, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 742, "end_frame": 940, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 940, "end_frame": 1330, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [ { "start": 428, "end": 742, "description": "" } ] } }, { "episode_id": 657169, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 22, "end_frame": 232, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 232, "end_frame": 448, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 448, "end_frame": 758, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 758, "end_frame": 967, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 967, "end_frame": 1360, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657182, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 22, "end_frame": 235, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 235, "end_frame": 462, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 462, "end_frame": 811, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 811, "end_frame": 1012, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 1012, "end_frame": 1364, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657190, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 20, "end_frame": 298, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 298, "end_frame": 498, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 498, "end_frame": 809, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 809, "end_frame": 1017, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 1017, "end_frame": 1397, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657207, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 29, "end_frame": 266, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 266, "end_frame": 450, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 450, "end_frame": 758, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 758, "end_frame": 941, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 941, "end_frame": 1296, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657223, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 23, "end_frame": 239, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 239, "end_frame": 390, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 390, "end_frame": 643, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 643, "end_frame": 795, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 795, "end_frame": 1165, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657233, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 28, "end_frame": 248, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 248, "end_frame": 426, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 426, "end_frame": 711, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 711, "end_frame": 881, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 881, "end_frame": 1380, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657247, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 30, "end_frame": 242, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 242, "end_frame": 435, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 435, "end_frame": 717, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 717, "end_frame": 876, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 876, "end_frame": 1331, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657261, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 21, "end_frame": 251, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 251, "end_frame": 458, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 458, "end_frame": 712, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 712, "end_frame": 905, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 905, "end_frame": 1266, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657276, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 22, "end_frame": 239, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 239, "end_frame": 418, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 418, "end_frame": 666, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 666, "end_frame": 851, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 851, "end_frame": 1280, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657331, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 28, "end_frame": 209, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 209, "end_frame": 351, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 351, "end_frame": 637, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 637, "end_frame": 804, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 804, "end_frame": 1134, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657346, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 26, "end_frame": 207, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 207, "end_frame": 379, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 379, "end_frame": 664, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 664, "end_frame": 850, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 850, "end_frame": 1329, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657400, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 45, "end_frame": 252, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 252, "end_frame": 425, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 425, "end_frame": 661, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 661, "end_frame": 837, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 837, "end_frame": 1203, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657429, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 22, "end_frame": 239, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 239, "end_frame": 516, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 516, "end_frame": 812, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 812, "end_frame": 975, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 975, "end_frame": 1353, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657443, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 28, "end_frame": 248, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 248, "end_frame": 499, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 499, "end_frame": 748, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 748, "end_frame": 920, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 920, "end_frame": 1314, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657453, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 11, "end_frame": 194, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 194, "end_frame": 445, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 445, "end_frame": 701, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 701, "end_frame": 861, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 861, "end_frame": 1283, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657464, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 23, "end_frame": 214, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 214, "end_frame": 443, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 443, "end_frame": 752, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 752, "end_frame": 919, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 919, "end_frame": 1427, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657489, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 28, "end_frame": 230, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 230, "end_frame": 429, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 429, "end_frame": 664, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 664, "end_frame": 837, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 837, "end_frame": 1345, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657496, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 23, "end_frame": 207, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 207, "end_frame": 376, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 376, "end_frame": 637, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 637, "end_frame": 791, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 791, "end_frame": 1225, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657515, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 34, "end_frame": 244, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 244, "end_frame": 421, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 421, "end_frame": 678, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 678, "end_frame": 815, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 815, "end_frame": 1296, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657526, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 28, "end_frame": 238, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 238, "end_frame": 496, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 496, "end_frame": 726, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 726, "end_frame": 894, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 894, "end_frame": 1391, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657538, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 17, "end_frame": 243, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 243, "end_frame": 504, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 504, "end_frame": 770, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 770, "end_frame": 898, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 898, "end_frame": 1304, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657553, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 4, "end_frame": 259, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 259, "end_frame": 513, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 513, "end_frame": 806, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 806, "end_frame": 985, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 985, "end_frame": 1425, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657579, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 4, "end_frame": 258, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 258, "end_frame": 451, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 451, "end_frame": 663, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 663, "end_frame": 857, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 857, "end_frame": 1304, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657594, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 20, "end_frame": 281, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 281, "end_frame": 516, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 516, "end_frame": 732, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 732, "end_frame": 936, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 936, "end_frame": 1395, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657604, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 17, "end_frame": 249, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 249, "end_frame": 506, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 506, "end_frame": 745, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 745, "end_frame": 941, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 941, "end_frame": 1348, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657615, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 7, "end_frame": 256, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 256, "end_frame": 430, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 430, "end_frame": 623, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 623, "end_frame": 820, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 820, "end_frame": 1166, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657627, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 8, "end_frame": 271, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 271, "end_frame": 461, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 461, "end_frame": 645, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 645, "end_frame": 850, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 850, "end_frame": 1172, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657640, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 278, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 278, "end_frame": 466, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 466, "end_frame": 696, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 696, "end_frame": 937, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 937, "end_frame": 1283, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657669, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 9, "end_frame": 254, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 254, "end_frame": 460, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 460, "end_frame": 683, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 683, "end_frame": 873, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 873, "end_frame": 1186, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657681, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 4, "end_frame": 272, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 272, "end_frame": 482, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 482, "end_frame": 721, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 721, "end_frame": 937, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 937, "end_frame": 1299, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657695, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 7, "end_frame": 346, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 346, "end_frame": 536, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 536, "end_frame": 806, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 806, "end_frame": 1033, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 1033, "end_frame": 1406, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657702, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 20, "end_frame": 346, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 346, "end_frame": 568, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 568, "end_frame": 829, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 829, "end_frame": 1039, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 1039, "end_frame": 1367, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657714, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 9, "end_frame": 304, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 304, "end_frame": 499, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 499, "end_frame": 764, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 764, "end_frame": 937, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 937, "end_frame": 1414, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657730, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 11, "end_frame": 256, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 256, "end_frame": 551, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 551, "end_frame": 764, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 764, "end_frame": 958, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 958, "end_frame": 1339, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657745, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 4, "end_frame": 286, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 286, "end_frame": 588, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 588, "end_frame": 870, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 870, "end_frame": 1076, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 1076, "end_frame": 1465, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657786, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 10, "end_frame": 315, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 315, "end_frame": 599, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 599, "end_frame": 882, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 882, "end_frame": 1072, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 1072, "end_frame": 1447, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657795, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 16, "end_frame": 273, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 273, "end_frame": 499, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 499, "end_frame": 723, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 723, "end_frame": 940, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 940, "end_frame": 1354, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657814, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 10, "end_frame": 256, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 256, "end_frame": 565, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 565, "end_frame": 791, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 791, "end_frame": 1013, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 1013, "end_frame": 1430, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657847, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 20, "end_frame": 271, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 271, "end_frame": 470, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 470, "end_frame": 714, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 714, "end_frame": 929, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 929, "end_frame": 1356, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657864, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 14, "end_frame": 242, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 242, "end_frame": 420, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 420, "end_frame": 590, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 590, "end_frame": 756, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 756, "end_frame": 1227, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657878, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 11, "end_frame": 249, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 249, "end_frame": 416, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 416, "end_frame": 614, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 614, "end_frame": 810, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 810, "end_frame": 1168, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657889, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 9, "end_frame": 254, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 254, "end_frame": 461, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 461, "end_frame": 670, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 670, "end_frame": 864, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 864, "end_frame": 1287, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657897, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 16, "end_frame": 255, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 255, "end_frame": 446, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 446, "end_frame": 633, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 633, "end_frame": 841, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 841, "end_frame": 1228, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657911, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 13, "end_frame": 252, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 252, "end_frame": 458, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 458, "end_frame": 641, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 641, "end_frame": 885, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 885, "end_frame": 1242, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657941, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 11, "end_frame": 238, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 238, "end_frame": 523, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 523, "end_frame": 697, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 697, "end_frame": 889, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 889, "end_frame": 1227, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657951, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 7, "end_frame": 244, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 244, "end_frame": 529, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 529, "end_frame": 696, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 696, "end_frame": 900, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 900, "end_frame": 1203, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657965, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 25, "end_frame": 244, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 244, "end_frame": 492, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 492, "end_frame": 679, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 679, "end_frame": 907, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 907, "end_frame": 1335, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657982, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 6, "end_frame": 244, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 244, "end_frame": 528, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 528, "end_frame": 708, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 708, "end_frame": 916, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 916, "end_frame": 1281, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658012, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 15, "end_frame": 240, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 240, "end_frame": 496, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 496, "end_frame": 750, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 750, "end_frame": 951, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 951, "end_frame": 1343, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658026, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 43, "end_frame": 258, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 258, "end_frame": 482, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 482, "end_frame": 666, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 666, "end_frame": 882, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 882, "end_frame": 1297, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658039, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 6, "end_frame": 292, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 292, "end_frame": 565, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 565, "end_frame": 741, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 741, "end_frame": 1009, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 1009, "end_frame": 1360, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 658050, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 15, "end_frame": 252, "action_text": "Retrieve dried shiitake mushrooms from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 252, "end_frame": 527, "action_text": "Place the dried shiitake mushrooms held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 527, "end_frame": 780, "action_text": "Retrieve white creamer pod from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 780, "end_frame": 972, "action_text": "Pass the white creamer pod with both hands.", "skill": "HandOver" }, { "start_frame": 972, "end_frame": 1394, "action_text": "Place the white creamer pod held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 662890, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 36, "end_frame": 272, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 272, "end_frame": 496, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 496, "end_frame": 694, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 694, "end_frame": 954, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 954, "end_frame": 1181, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663343, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 40, "end_frame": 241, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 241, "end_frame": 482, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 482, "end_frame": 615, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 615, "end_frame": 825, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 825, "end_frame": 1004, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663366, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 251, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 251, "end_frame": 428, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 428, "end_frame": 703, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 703, "end_frame": 934, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 934, "end_frame": 1125, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663389, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 240, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 240, "end_frame": 421, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 421, "end_frame": 678, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 678, "end_frame": 819, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 819, "end_frame": 1040, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663404, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 40, "end_frame": 220, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 220, "end_frame": 422, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 422, "end_frame": 695, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 695, "end_frame": 883, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 883, "end_frame": 1061, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663486, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 202, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 202, "end_frame": 352, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 352, "end_frame": 603, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 603, "end_frame": 789, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 789, "end_frame": 980, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663498, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 182, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 182, "end_frame": 327, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 327, "end_frame": 538, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 538, "end_frame": 697, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 697, "end_frame": 878, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663522, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 236, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 236, "end_frame": 416, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 416, "end_frame": 657, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 657, "end_frame": 841, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 841, "end_frame": 1043, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663536, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 255, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 255, "end_frame": 410, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 410, "end_frame": 673, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 673, "end_frame": 898, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 898, "end_frame": 1158, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663550, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 200, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 200, "end_frame": 316, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 316, "end_frame": 574, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 574, "end_frame": 802, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 802, "end_frame": 1044, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663565, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 207, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 207, "end_frame": 334, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 334, "end_frame": 579, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 579, "end_frame": 785, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 785, "end_frame": 996, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663583, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 243, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 243, "end_frame": 388, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 388, "end_frame": 624, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 624, "end_frame": 827, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 827, "end_frame": 1151, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663600, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 218, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 218, "end_frame": 401, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 401, "end_frame": 645, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 645, "end_frame": 853, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 853, "end_frame": 1093, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663618, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 216, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 216, "end_frame": 353, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 353, "end_frame": 556, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 556, "end_frame": 783, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 783, "end_frame": 1039, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663640, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 219, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 219, "end_frame": 333, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 333, "end_frame": 551, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 551, "end_frame": 738, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 738, "end_frame": 864, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663644, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 211, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 211, "end_frame": 399, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 399, "end_frame": 662, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 662, "end_frame": 830, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 830, "end_frame": 987, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663660, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 261, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 261, "end_frame": 412, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 412, "end_frame": 652, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 652, "end_frame": 866, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 866, "end_frame": 1024, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663684, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 222, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 222, "end_frame": 347, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 347, "end_frame": 566, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 566, "end_frame": 767, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 767, "end_frame": 940, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663903, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 198, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 198, "end_frame": 335, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 335, "end_frame": 523, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 523, "end_frame": 715, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 715, "end_frame": 896, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663922, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 166, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 166, "end_frame": 305, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 305, "end_frame": 518, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 518, "end_frame": 703, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 703, "end_frame": 939, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663936, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 218, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 218, "end_frame": 313, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 313, "end_frame": 577, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 577, "end_frame": 731, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 731, "end_frame": 903, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663968, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 237, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 237, "end_frame": 348, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 348, "end_frame": 584, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 584, "end_frame": 780, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 780, "end_frame": 987, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663987, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 177, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 177, "end_frame": 326, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 326, "end_frame": 556, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 556, "end_frame": 735, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 735, "end_frame": 898, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664011, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 221, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 221, "end_frame": 421, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 421, "end_frame": 640, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 640, "end_frame": 840, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 840, "end_frame": 1091, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664026, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 191, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 191, "end_frame": 353, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 353, "end_frame": 585, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 585, "end_frame": 747, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 747, "end_frame": 1008, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664042, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 172, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 172, "end_frame": 302, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 302, "end_frame": 544, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 544, "end_frame": 709, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 709, "end_frame": 931, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664050, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 211, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 211, "end_frame": 317, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 317, "end_frame": 542, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 542, "end_frame": 728, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 728, "end_frame": 990, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664061, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 181, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 181, "end_frame": 315, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 315, "end_frame": 519, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 519, "end_frame": 710, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 710, "end_frame": 894, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664075, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 221, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 221, "end_frame": 356, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 356, "end_frame": 562, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 562, "end_frame": 750, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 750, "end_frame": 920, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664087, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 185, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 185, "end_frame": 315, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 315, "end_frame": 560, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 560, "end_frame": 708, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 708, "end_frame": 887, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664099, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 201, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 201, "end_frame": 343, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 343, "end_frame": 553, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 553, "end_frame": 726, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 726, "end_frame": 934, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664115, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 214, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 214, "end_frame": 388, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 388, "end_frame": 590, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 590, "end_frame": 769, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 769, "end_frame": 970, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664150, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 173, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 173, "end_frame": 309, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 309, "end_frame": 500, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 500, "end_frame": 628, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 628, "end_frame": 785, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664161, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 176, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 176, "end_frame": 322, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 322, "end_frame": 534, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 534, "end_frame": 753, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 753, "end_frame": 897, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664179, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 179, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 179, "end_frame": 314, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 314, "end_frame": 533, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 533, "end_frame": 696, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 696, "end_frame": 884, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664192, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 184, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 184, "end_frame": 367, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 367, "end_frame": 540, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 540, "end_frame": 713, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 713, "end_frame": 886, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664210, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 197, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 197, "end_frame": 321, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 321, "end_frame": 561, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 561, "end_frame": 737, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 737, "end_frame": 948, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664227, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 204, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 204, "end_frame": 370, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 370, "end_frame": 579, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 579, "end_frame": 762, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 762, "end_frame": 973, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664260, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 198, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 198, "end_frame": 344, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 344, "end_frame": 542, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 542, "end_frame": 703, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 703, "end_frame": 864, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664272, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 200, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 200, "end_frame": 340, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 340, "end_frame": 541, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 541, "end_frame": 750, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 750, "end_frame": 940, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664284, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 180, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 180, "end_frame": 326, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 326, "end_frame": 564, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 564, "end_frame": 727, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 727, "end_frame": 932, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664295, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 188, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 188, "end_frame": 312, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 312, "end_frame": 512, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 512, "end_frame": 663, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 663, "end_frame": 879, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664310, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 197, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 197, "end_frame": 319, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 319, "end_frame": 549, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 549, "end_frame": 739, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 739, "end_frame": 920, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664325, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 180, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 180, "end_frame": 335, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 335, "end_frame": 557, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 557, "end_frame": 698, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 698, "end_frame": 959, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664345, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 180, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 180, "end_frame": 340, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 340, "end_frame": 525, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 525, "end_frame": 698, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 698, "end_frame": 899, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664361, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 193, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 193, "end_frame": 288, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 288, "end_frame": 504, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 504, "end_frame": 637, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 637, "end_frame": 790, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664401, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 204, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 204, "end_frame": 366, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 366, "end_frame": 558, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 558, "end_frame": 741, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 741, "end_frame": 915, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664415, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 279, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 279, "end_frame": 433, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 433, "end_frame": 655, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 655, "end_frame": 850, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 850, "end_frame": 1080, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664428, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 269, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 269, "end_frame": 430, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 430, "end_frame": 670, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 670, "end_frame": 827, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 827, "end_frame": 1057, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664447, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 187, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 187, "end_frame": 319, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 319, "end_frame": 594, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 594, "end_frame": 799, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 799, "end_frame": 1053, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664571, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 294, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 294, "end_frame": 374, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 374, "end_frame": 682, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 682, "end_frame": 843, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 843, "end_frame": 1047, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712359, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 255, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 255, "end_frame": 462, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 462, "end_frame": 637, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 637, "end_frame": 829, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 829, "end_frame": 1020, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712377, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 240, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 240, "end_frame": 449, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 449, "end_frame": 743, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 743, "end_frame": 896, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 896, "end_frame": 1020, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712385, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 236, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 236, "end_frame": 427, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 427, "end_frame": 621, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 621, "end_frame": 797, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 797, "end_frame": 1058, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712392, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 263, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 263, "end_frame": 498, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 498, "end_frame": 687, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 687, "end_frame": 892, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 892, "end_frame": 1036, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712401, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 273, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 273, "end_frame": 438, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 438, "end_frame": 633, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 633, "end_frame": 785, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 785, "end_frame": 918, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712425, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 271, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 271, "end_frame": 464, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 464, "end_frame": 635, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 635, "end_frame": 831, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 831, "end_frame": 977, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712436, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 232, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 232, "end_frame": 409, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 409, "end_frame": 559, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 559, "end_frame": 728, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 728, "end_frame": 842, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712443, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 227, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 227, "end_frame": 553, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 553, "end_frame": 759, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 759, "end_frame": 958, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 958, "end_frame": 1086, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712456, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 235, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 235, "end_frame": 396, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 396, "end_frame": 589, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 589, "end_frame": 768, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 768, "end_frame": 894, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712465, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 320, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 320, "end_frame": 553, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 553, "end_frame": 768, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 768, "end_frame": 945, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 945, "end_frame": 1051, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712469, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 335, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 335, "end_frame": 535, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 535, "end_frame": 703, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 703, "end_frame": 917, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 917, "end_frame": 1080, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712481, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 262, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 262, "end_frame": 497, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 497, "end_frame": 673, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 673, "end_frame": 848, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 848, "end_frame": 1031, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712485, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 288, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 288, "end_frame": 468, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 468, "end_frame": 648, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 648, "end_frame": 817, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 817, "end_frame": 948, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712493, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 247, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 247, "end_frame": 435, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 435, "end_frame": 687, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 687, "end_frame": 901, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 901, "end_frame": 1035, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712498, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 224, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 224, "end_frame": 418, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 418, "end_frame": 566, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 566, "end_frame": 784, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 784, "end_frame": 931, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712533, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 247, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 247, "end_frame": 471, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 471, "end_frame": 642, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 642, "end_frame": 790, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 790, "end_frame": 957, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712537, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 235, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 235, "end_frame": 418, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 418, "end_frame": 585, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 585, "end_frame": 733, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 733, "end_frame": 893, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712543, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 252, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 252, "end_frame": 424, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 424, "end_frame": 613, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 613, "end_frame": 762, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 762, "end_frame": 864, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712548, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 206, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 206, "end_frame": 403, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 403, "end_frame": 606, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 606, "end_frame": 844, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 844, "end_frame": 961, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712555, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 248, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 248, "end_frame": 392, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 392, "end_frame": 560, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 560, "end_frame": 721, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 721, "end_frame": 857, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712559, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 238, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 238, "end_frame": 472, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 472, "end_frame": 633, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 633, "end_frame": 765, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 765, "end_frame": 908, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712565, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 217, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 217, "end_frame": 415, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 415, "end_frame": 542, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 542, "end_frame": 693, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 693, "end_frame": 809, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712576, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 234, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 234, "end_frame": 392, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 392, "end_frame": 564, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 564, "end_frame": 718, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 718, "end_frame": 870, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712581, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 320, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 320, "end_frame": 504, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 504, "end_frame": 671, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 671, "end_frame": 840, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 840, "end_frame": 962, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712600, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 270, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 270, "end_frame": 468, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 468, "end_frame": 642, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 642, "end_frame": 786, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 786, "end_frame": 998, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712605, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 231, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 231, "end_frame": 422, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 422, "end_frame": 583, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 583, "end_frame": 717, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 717, "end_frame": 880, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712612, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 222, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 222, "end_frame": 388, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 388, "end_frame": 535, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 535, "end_frame": 737, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 737, "end_frame": 907, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712619, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 229, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 229, "end_frame": 413, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 413, "end_frame": 539, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 539, "end_frame": 740, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 740, "end_frame": 934, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712628, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 209, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 209, "end_frame": 436, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 436, "end_frame": 569, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 569, "end_frame": 725, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 725, "end_frame": 886, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712635, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 245, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 245, "end_frame": 420, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 420, "end_frame": 588, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 588, "end_frame": 728, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 728, "end_frame": 882, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712642, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 273, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 273, "end_frame": 510, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 510, "end_frame": 670, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 670, "end_frame": 893, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 893, "end_frame": 1035, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712671, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 285, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 285, "end_frame": 498, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 498, "end_frame": 637, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 637, "end_frame": 794, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 794, "end_frame": 904, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712677, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 244, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 244, "end_frame": 400, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 400, "end_frame": 545, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 545, "end_frame": 678, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 678, "end_frame": 831, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712697, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 243, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 243, "end_frame": 477, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 477, "end_frame": 630, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 630, "end_frame": 792, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 792, "end_frame": 970, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712703, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 247, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 247, "end_frame": 518, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 518, "end_frame": 694, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 694, "end_frame": 823, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 823, "end_frame": 1061, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712710, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 253, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 253, "end_frame": 445, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 445, "end_frame": 592, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 592, "end_frame": 752, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 752, "end_frame": 909, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712717, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 302, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 302, "end_frame": 489, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 489, "end_frame": 659, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 659, "end_frame": 795, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 795, "end_frame": 986, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712723, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 217, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 217, "end_frame": 389, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 389, "end_frame": 521, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 521, "end_frame": 717, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 717, "end_frame": 817, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712727, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 227, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 227, "end_frame": 359, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 359, "end_frame": 545, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 545, "end_frame": 719, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 719, "end_frame": 835, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712736, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 69, "end_frame": 262, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 262, "end_frame": 462, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 462, "end_frame": 605, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 605, "end_frame": 762, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 762, "end_frame": 898, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712742, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 232, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 232, "end_frame": 400, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 400, "end_frame": 536, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 536, "end_frame": 670, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 670, "end_frame": 886, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712749, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 193, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 193, "end_frame": 327, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 327, "end_frame": 435, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 435, "end_frame": 582, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 582, "end_frame": 722, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712752, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 243, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 243, "end_frame": 415, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 415, "end_frame": 551, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 551, "end_frame": 696, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 696, "end_frame": 831, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712764, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 194, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 194, "end_frame": 357, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 357, "end_frame": 525, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 525, "end_frame": 674, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 674, "end_frame": 813, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712770, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 249, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 249, "end_frame": 382, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 382, "end_frame": 531, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 531, "end_frame": 680, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 680, "end_frame": 841, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712775, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 229, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 229, "end_frame": 359, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 359, "end_frame": 509, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 509, "end_frame": 656, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 656, "end_frame": 816, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712781, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 223, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 223, "end_frame": 386, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 386, "end_frame": 534, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 534, "end_frame": 665, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 665, "end_frame": 793, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 712791, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 237, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 237, "end_frame": 407, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 407, "end_frame": 562, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 562, "end_frame": 747, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 747, "end_frame": 888, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716087, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 65, "end_frame": 235, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 235, "end_frame": 423, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 423, "end_frame": 586, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 586, "end_frame": 747, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 747, "end_frame": 862, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716089, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 45, "end_frame": 232, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 232, "end_frame": 425, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 425, "end_frame": 635, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 635, "end_frame": 775, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 775, "end_frame": 909, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716091, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 28, "end_frame": 213, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 213, "end_frame": 394, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 394, "end_frame": 542, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 542, "end_frame": 687, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 687, "end_frame": 794, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716092, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 34, "end_frame": 222, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 222, "end_frame": 382, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 382, "end_frame": 518, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 518, "end_frame": 663, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 663, "end_frame": 757, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716093, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 34, "end_frame": 299, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 299, "end_frame": 448, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 448, "end_frame": 596, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 596, "end_frame": 745, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 745, "end_frame": 869, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716094, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 53, "end_frame": 271, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 271, "end_frame": 451, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 451, "end_frame": 624, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 624, "end_frame": 849, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 849, "end_frame": 966, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716095, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 99, "end_frame": 310, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 310, "end_frame": 492, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 492, "end_frame": 667, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 667, "end_frame": 818, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 818, "end_frame": 946, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716096, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 38, "end_frame": 292, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 292, "end_frame": 482, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 482, "end_frame": 668, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 668, "end_frame": 843, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 843, "end_frame": 979, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716098, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 36, "end_frame": 237, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 237, "end_frame": 421, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 421, "end_frame": 610, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 610, "end_frame": 765, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 765, "end_frame": 898, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716099, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 62, "end_frame": 247, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 247, "end_frame": 423, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 423, "end_frame": 570, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 570, "end_frame": 728, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 728, "end_frame": 855, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716100, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 44, "end_frame": 256, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 256, "end_frame": 401, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 401, "end_frame": 525, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 525, "end_frame": 712, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 712, "end_frame": 814, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716103, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 20, "end_frame": 232, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 232, "end_frame": 413, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 413, "end_frame": 549, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 549, "end_frame": 748, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 748, "end_frame": 867, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716104, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 34, "end_frame": 229, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 229, "end_frame": 404, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 404, "end_frame": 563, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 563, "end_frame": 740, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 740, "end_frame": 880, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716105, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 58, "end_frame": 301, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 301, "end_frame": 477, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 477, "end_frame": 599, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 599, "end_frame": 769, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 769, "end_frame": 887, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716108, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 96, "end_frame": 291, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 291, "end_frame": 447, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 447, "end_frame": 632, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 632, "end_frame": 783, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 783, "end_frame": 964, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716111, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 25, "end_frame": 299, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 299, "end_frame": 492, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 492, "end_frame": 626, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 626, "end_frame": 810, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 810, "end_frame": 961, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716115, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 38, "end_frame": 240, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 240, "end_frame": 417, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 417, "end_frame": 623, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 623, "end_frame": 787, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 787, "end_frame": 942, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716118, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 35, "end_frame": 259, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 259, "end_frame": 449, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 449, "end_frame": 592, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 592, "end_frame": 836, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 836, "end_frame": 950, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716122, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 37, "end_frame": 246, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 246, "end_frame": 422, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 422, "end_frame": 561, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 561, "end_frame": 703, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 703, "end_frame": 799, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716143, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 48, "end_frame": 264, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 264, "end_frame": 449, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 449, "end_frame": 626, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 626, "end_frame": 770, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 770, "end_frame": 905, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716147, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 58, "end_frame": 271, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 271, "end_frame": 447, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 447, "end_frame": 627, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 627, "end_frame": 757, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 757, "end_frame": 896, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716158, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 61, "end_frame": 266, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 266, "end_frame": 440, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 440, "end_frame": 602, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 602, "end_frame": 754, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 754, "end_frame": 867, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716164, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 40, "end_frame": 206, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 206, "end_frame": 418, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 418, "end_frame": 648, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 648, "end_frame": 833, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 833, "end_frame": 994, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716170, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 49, "end_frame": 226, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 226, "end_frame": 468, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 468, "end_frame": 674, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 674, "end_frame": 847, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 847, "end_frame": 995, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716180, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 64, "end_frame": 258, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 258, "end_frame": 427, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 427, "end_frame": 617, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 617, "end_frame": 742, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 742, "end_frame": 873, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716186, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 51, "end_frame": 228, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 228, "end_frame": 394, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 394, "end_frame": 610, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 610, "end_frame": 752, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 752, "end_frame": 913, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716190, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 63, "end_frame": 273, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 273, "end_frame": 412, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 412, "end_frame": 575, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 575, "end_frame": 728, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 728, "end_frame": 860, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716198, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 62, "end_frame": 203, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 203, "end_frame": 390, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 390, "end_frame": 510, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 510, "end_frame": 658, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 658, "end_frame": 771, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716215, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 63, "end_frame": 226, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 226, "end_frame": 472, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 472, "end_frame": 624, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 624, "end_frame": 742, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 742, "end_frame": 871, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716220, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 75, "end_frame": 323, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 323, "end_frame": 519, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 519, "end_frame": 647, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 647, "end_frame": 805, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 805, "end_frame": 956, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716231, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 53, "end_frame": 250, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 250, "end_frame": 442, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 442, "end_frame": 627, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 627, "end_frame": 819, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 819, "end_frame": 989, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716241, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 60, "end_frame": 240, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 240, "end_frame": 423, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 423, "end_frame": 567, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 567, "end_frame": 699, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 699, "end_frame": 814, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716252, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 70, "end_frame": 372, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 372, "end_frame": 569, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 569, "end_frame": 716, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 716, "end_frame": 888, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 888, "end_frame": 996, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716263, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 60, "end_frame": 284, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 284, "end_frame": 464, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 464, "end_frame": 705, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 705, "end_frame": 820, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 820, "end_frame": 976, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716272, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 60, "end_frame": 232, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 232, "end_frame": 400, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 400, "end_frame": 583, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 583, "end_frame": 728, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 728, "end_frame": 866, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716276, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 43, "end_frame": 216, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 216, "end_frame": 382, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 382, "end_frame": 646, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 646, "end_frame": 773, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 773, "end_frame": 898, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716289, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 65, "end_frame": 233, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 233, "end_frame": 414, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 414, "end_frame": 609, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 609, "end_frame": 770, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 770, "end_frame": 923, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716295, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 68, "end_frame": 244, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 244, "end_frame": 411, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 411, "end_frame": 602, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 602, "end_frame": 735, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 735, "end_frame": 885, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716318, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 51, "end_frame": 222, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 222, "end_frame": 409, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 409, "end_frame": 595, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 595, "end_frame": 728, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 728, "end_frame": 851, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716325, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 34, "end_frame": 228, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 228, "end_frame": 403, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 403, "end_frame": 571, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 571, "end_frame": 726, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 726, "end_frame": 867, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716335, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 76, "end_frame": 283, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 283, "end_frame": 464, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 464, "end_frame": 629, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 629, "end_frame": 754, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 754, "end_frame": 859, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716342, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 109, "end_frame": 264, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 264, "end_frame": 427, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 427, "end_frame": 676, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 676, "end_frame": 822, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 822, "end_frame": 961, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716353, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 48, "end_frame": 192, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 192, "end_frame": 440, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 440, "end_frame": 606, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 606, "end_frame": 748, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 748, "end_frame": 919, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716363, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 214, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 214, "end_frame": 419, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 419, "end_frame": 551, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 551, "end_frame": 667, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 667, "end_frame": 822, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716371, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 217, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 217, "end_frame": 448, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 448, "end_frame": 607, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 607, "end_frame": 747, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 747, "end_frame": 1009, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716382, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 183, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 183, "end_frame": 380, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 380, "end_frame": 610, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 610, "end_frame": 738, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 738, "end_frame": 934, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716395, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 231, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 231, "end_frame": 470, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 470, "end_frame": 627, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 627, "end_frame": 748, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 748, "end_frame": 926, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 716399, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 161, "action_text": "Retrieve spicy peanuts from top-left corner of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 161, "end_frame": 308, "action_text": "Place the spicy peanuts held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 308, "end_frame": 500, "action_text": "Retrieve blue cheers crisp from bottom right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 500, "end_frame": 631, "action_text": "Pass the blue cheers crisp with both hands.", "skill": "HandOver" }, { "start_frame": 631, "end_frame": 796, "action_text": "Place the blue cheers crisp held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 669886, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 54, "end_frame": 259, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 259, "end_frame": 405, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 405, "end_frame": 617, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 617, "end_frame": 831, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 831, "end_frame": 1192, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 669904, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 184, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 184, "end_frame": 322, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 322, "end_frame": 581, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 581, "end_frame": 924, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 924, "end_frame": 1164, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 669915, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 186, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 186, "end_frame": 316, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 316, "end_frame": 557, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 557, "end_frame": 819, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 819, "end_frame": 1094, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 669926, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 205, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 205, "end_frame": 347, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 347, "end_frame": 549, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 549, "end_frame": 733, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 733, "end_frame": 1151, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 669938, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 199, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 199, "end_frame": 352, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 352, "end_frame": 634, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 634, "end_frame": 890, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 890, "end_frame": 1207, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 669950, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 25, "end_frame": 204, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 204, "end_frame": 327, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 327, "end_frame": 515, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 515, "end_frame": 808, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 808, "end_frame": 1145, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 669999, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 35, "end_frame": 256, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 256, "end_frame": 417, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 417, "end_frame": 676, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 676, "end_frame": 970, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 970, "end_frame": 1187, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 670024, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 233, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 233, "end_frame": 422, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 422, "end_frame": 688, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 688, "end_frame": 945, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 945, "end_frame": 1200, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 670039, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 207, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 207, "end_frame": 374, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 374, "end_frame": 659, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 659, "end_frame": 1000, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 1000, "end_frame": 1230, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 670051, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 27, "end_frame": 371, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 371, "end_frame": 515, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 515, "end_frame": 693, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 693, "end_frame": 881, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 881, "end_frame": 1090, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [ { "start": 0, "end": 371, "description": "" } ] } }, { "episode_id": 670060, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 25, "end_frame": 213, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 213, "end_frame": 358, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 358, "end_frame": 614, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 614, "end_frame": 851, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 851, "end_frame": 1100, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 670072, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 21, "end_frame": 228, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 228, "end_frame": 358, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 358, "end_frame": 605, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 605, "end_frame": 839, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 839, "end_frame": 1077, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 670085, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 207, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 207, "end_frame": 389, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 389, "end_frame": 674, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 674, "end_frame": 916, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 916, "end_frame": 1198, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 670098, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 215, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 215, "end_frame": 334, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 334, "end_frame": 604, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 604, "end_frame": 842, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 842, "end_frame": 1206, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 670117, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 26, "end_frame": 227, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 227, "end_frame": 417, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 417, "end_frame": 681, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 681, "end_frame": 958, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 958, "end_frame": 1357, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 670125, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 19, "end_frame": 231, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 231, "end_frame": 401, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 401, "end_frame": 669, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 669, "end_frame": 941, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 941, "end_frame": 1176, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 670153, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 22, "end_frame": 366, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 366, "end_frame": 510, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 510, "end_frame": 707, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 707, "end_frame": 957, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 957, "end_frame": 1287, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [ { "start": 22, "end": 366, "description": "" } ] } }, { "episode_id": 670163, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 20, "end_frame": 230, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 230, "end_frame": 395, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 395, "end_frame": 602, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 602, "end_frame": 878, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 878, "end_frame": 1071, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 670178, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 20, "end_frame": 261, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 261, "end_frame": 409, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 409, "end_frame": 601, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 601, "end_frame": 855, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 855, "end_frame": 1046, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 670191, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 250, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 250, "end_frame": 395, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 395, "end_frame": 597, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 597, "end_frame": 794, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 794, "end_frame": 1061, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 670202, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 18, "end_frame": 206, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 206, "end_frame": 361, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 361, "end_frame": 580, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 580, "end_frame": 839, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 839, "end_frame": 1018, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 670227, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 23, "end_frame": 202, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 202, "end_frame": 322, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 322, "end_frame": 505, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 505, "end_frame": 790, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 790, "end_frame": 982, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 670243, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 18, "end_frame": 237, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 237, "end_frame": 381, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 381, "end_frame": 588, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 588, "end_frame": 822, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 822, "end_frame": 998, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 670273, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 21, "end_frame": 204, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 204, "end_frame": 343, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 343, "end_frame": 636, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 636, "end_frame": 905, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 905, "end_frame": 1163, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 670285, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 29, "end_frame": 208, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 208, "end_frame": 348, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 348, "end_frame": 571, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 571, "end_frame": 853, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 853, "end_frame": 1071, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 670349, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 22, "end_frame": 234, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 234, "end_frame": 387, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 387, "end_frame": 653, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 653, "end_frame": 877, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 877, "end_frame": 1202, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 670358, "task_id": 366, "task_name": "Sort food", "init_scene_text": "A robot stands in front of a table with a 4-grid material frame and a target frame placed on the surface. The target frame is on the left, and the 4-grid material frame is on the right.", "label_info": { "action_config": [ { "start_frame": 26, "end_frame": 256, "action_text": "Retrieve marinated egg from bottom left of the material frame with the left arm.", "skill": "Pick" }, { "start_frame": 256, "end_frame": 410, "action_text": "Place the marinated egg held in the left arm into the left blue target box.", "skill": "Place" }, { "start_frame": 410, "end_frame": 648, "action_text": "Retrieve purple potato chips from top right corner of the material frame with the right arm.", "skill": "Pick" }, { "start_frame": 648, "end_frame": 913, "action_text": "Pass the purple potato chips with both hands.", "skill": "HandOver" }, { "start_frame": 913, "end_frame": 1122, "action_text": "Place the purple potato chips held in the left arm into the left blue target box.", "skill": "Place" } ], "key_frame": [] } } ]