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}, { "episode_id": 649347, "task_id": 375, "task_name": "Brew tea", "init_scene_text": "Initial positions: The tea bag box, water cup, and kettle are placed on the table.\nThe initial positions of the items are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 19, "end_frame": 237, "action_text": "Lift the right arm with green teapot.", "skill": "Pick" }, { "start_frame": 237, "end_frame": 526, "action_text": "Pour the water from green teapot into the cup.", "skill": "Pour" }, { "start_frame": 526, "end_frame": 648, "action_text": "Place the right arm back on the table.", "skill": "Place" }, { "start_frame": 648, "end_frame": 892, "action_text": "Lift the tea bag with the left arm.", "skill": "Pick" }, { "start_frame": 892, "end_frame": 1060, "action_text": "Pass the tea bag with both hands.", "skill": "HandOver" }, { "start_frame": 1060, "end_frame": 1269, "action_text": "Dip the tea bag into the cup and lift it out.", "skill": "dip" }, { "start_frame": 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616, "end_frame": 809, "action_text": "Lift the tea bag with the left arm.", "skill": "Pick" }, { "start_frame": 809, "end_frame": 950, "action_text": "Pass the tea bag with both hands.", "skill": "HandOver" }, { "start_frame": 950, "end_frame": 1131, "action_text": "Dip the tea bag into the cup and lift it out.", "skill": "dip" }, { "start_frame": 1131, "end_frame": 1240, "action_text": "Dip the tea bag into the cup and lift it.", "skill": "dip" }, { "start_frame": 1240, "end_frame": 1480, "action_text": "Place the tea bag in the cup with the right arm, leaving the tea bag tag outside the cup.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 650217, "task_id": 375, "task_name": "Brew tea", "init_scene_text": "Initial positions: The tea bag box, water cup, and kettle are placed on the table.\nThe initial positions of the items are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 22, "end_frame": 248, "action_text": "Lift the right arm with 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1157, "description": "" } ] } }, { "episode_id": 650116, "task_id": 375, "task_name": "Brew tea", "init_scene_text": "Initial positions: The tea bag box, water cup, and kettle are placed on the table.\nThe initial positions of the items are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 14, "end_frame": 244, "action_text": "Lift the right arm with beige teapot.", "skill": "Pick" }, { "start_frame": 244, "end_frame": 656, "action_text": "Pour the water from beige teapot into the cup.", "skill": "Pour" }, { "start_frame": 656, "end_frame": 867, "action_text": "Place the right arm back on the table.", "skill": "Place" }, { "start_frame": 867, "end_frame": 1136, "action_text": "Lift the tea bag with the left arm.", "skill": "Pick" }, { "start_frame": 1136, "end_frame": 1347, "action_text": "Pass the tea bag with both hands.", "skill": "HandOver" }, { "start_frame": 1347, "end_frame": 1532, "action_text": "Dip the tea bag into the cup and lift it out.", 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650201, "task_id": 375, "task_name": "Brew tea", "init_scene_text": "Initial positions: The tea bag box, water cup, and kettle are placed on the table.\nThe initial positions of the items are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 31, "end_frame": 253, "action_text": "Lift the right arm with beige teapot.", "skill": "Pick" }, { "start_frame": 253, "end_frame": 658, "action_text": "Pour the water from beige teapot into the cup.", "skill": "Pour" }, { "start_frame": 658, "end_frame": 846, "action_text": "Place the right arm back on the table.", "skill": "Place" }, { "start_frame": 846, "end_frame": 1084, "action_text": "Lift the tea bag with the left arm.", "skill": "Pick" }, { "start_frame": 1084, "end_frame": 1278, "action_text": "Pass the tea bag with both hands.", "skill": "HandOver" }, { "start_frame": 1278, "end_frame": 1444, "action_text": "Dip the tea bag into the cup and lift it out.", "skill": "dip" }, { "start_frame": 1444, "end_frame": 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}, { "episode_id": 651115, "task_id": 375, "task_name": "Brew tea", "init_scene_text": "Initial positions: The tea bag box, water cup, and kettle are placed on the table.\nThe initial positions of the items are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 23, "end_frame": 261, "action_text": "Lift the right arm with beige teapot.", "skill": "Pick" }, { "start_frame": 261, "end_frame": 747, "action_text": "Pour the water from beige teapot into the cup.", "skill": "Pour" }, { "start_frame": 747, "end_frame": 977, "action_text": "Place the right arm back on the table.", "skill": "Place" }, { "start_frame": 977, "end_frame": 1251, "action_text": "Lift the tea bag with the left arm.", "skill": "Pick" }, { "start_frame": 1251, "end_frame": 1582, "action_text": "Pass the tea bag with both hands.", "skill": "HandOver" }, { "start_frame": 1582, "end_frame": 1760, "action_text": "Dip the tea bag into the cup and lift it out.", "skill": "dip" }, { "start_frame": 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}, { "episode_id": 651397, "task_id": 375, "task_name": "Brew tea", "init_scene_text": "Initial positions: The tea bag box, water cup, and kettle are placed on the table.\nThe initial positions of the items are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 35, "end_frame": 280, "action_text": "Lift the right arm with beige teapot.", "skill": "Pick" }, { "start_frame": 280, "end_frame": 680, "action_text": "Pour the water from beige teapot into the cup.", "skill": "Pour" }, { "start_frame": 680, "end_frame": 864, "action_text": "Place the right arm back on the table.", "skill": "Place" }, { "start_frame": 864, "end_frame": 1201, "action_text": "Lift the tea bag with the left arm.", "skill": "Pick" }, { "start_frame": 1201, "end_frame": 1462, "action_text": "Pass the tea bag with both hands.", "skill": "HandOver" }, { "start_frame": 1462, "end_frame": 1725, "action_text": "Dip the tea bag into the cup and lift it out.", "skill": "dip" }, { "start_frame": 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"episode_id": 651572, "task_id": 375, "task_name": "Brew tea", "init_scene_text": "Initial positions: The tea bag box, water cup, and kettle are placed on the table.\nThe initial positions of the items are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 14, "end_frame": 240, "action_text": "Lift the right arm with beige teapot.", "skill": "Pick" }, { "start_frame": 240, "end_frame": 653, "action_text": "Pour the water from beige teapot into the cup.", "skill": "Pour" }, { "start_frame": 653, "end_frame": 846, "action_text": "Place the right arm back on the table.", "skill": "Place" }, { "start_frame": 846, "end_frame": 1167, "action_text": "Lift the tea bag with the left arm.", "skill": "Pick" }, { "start_frame": 1167, "end_frame": 1353, "action_text": "Pass the tea bag with both hands.", "skill": "HandOver" }, { "start_frame": 1353, "end_frame": 1546, "action_text": "Dip the tea bag into the cup and lift it out.", "skill": "dip" }, { "start_frame": 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positions: The tea bag box, water cup, and kettle are placed on the table.\nThe initial positions of the items are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 537, "action_text": "Lift the right arm with gray teapot.", "skill": "Pick" }, { "start_frame": 537, "end_frame": 860, "action_text": "Pour the water from gray teapot into the cup.", "skill": "Pour" }, { "start_frame": 860, "end_frame": 1230, "action_text": "Place the right arm back on the table.", "skill": "Place" }, { "start_frame": 1230, "end_frame": 1481, "action_text": "Lift the tea bag with the left arm.", "skill": "Pick" }, { "start_frame": 1481, "end_frame": 1869, "action_text": "Pass the tea bag with both hands.", "skill": "HandOver" }, { "start_frame": 1869, "end_frame": 1991, "action_text": "Dip the tea bag into the cup and lift it out.", "skill": "dip" }, { "start_frame": 1991, "end_frame": 2083, "action_text": "Dip the tea bag into the cup and lift it.", "skill": 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}, { "episode_id": 692902, "task_id": 375, "task_name": "Brew tea", "init_scene_text": "Initial positions: The tea bag box, water cup, and kettle are placed on the table.\nThe initial positions of the items are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 61, "end_frame": 250, "action_text": "Lift the right arm with white teapot.", "skill": "Pick" }, { "start_frame": 250, "end_frame": 781, "action_text": "Pour the water from white teapot into the cup.", "skill": "Pour" }, { "start_frame": 781, "end_frame": 1072, "action_text": "Place the right arm back on the table.", "skill": "Place" }, { "start_frame": 1072, "end_frame": 1322, "action_text": "Lift the tea bag with the left arm.", "skill": "Pick" }, { "start_frame": 1322, "end_frame": 1521, "action_text": "Pass the tea bag with both hands.", "skill": "HandOver" }, { "start_frame": 1521, "end_frame": 1736, "action_text": "Dip the tea bag into the cup and lift it out.", "skill": "dip" }, { 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} }, { "episode_id": 693144, "task_id": 375, "task_name": "Brew tea", "init_scene_text": "Initial positions: The tea bag box, water cup, and kettle are placed on the table.\nThe initial positions of the items are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 69, "end_frame": 254, "action_text": "Lift the right arm with white teapot.", "skill": "Pick" }, { "start_frame": 254, "end_frame": 774, "action_text": "Pour the water from white teapot into the cup.", "skill": "Pour" }, { "start_frame": 774, "end_frame": 1132, "action_text": "Place the right arm back on the table.", "skill": "Place" }, { "start_frame": 1132, "end_frame": 1337, "action_text": "Lift the tea bag with the left arm.", "skill": "Pick" }, { "start_frame": 1337, "end_frame": 1517, "action_text": "Pass the tea bag with both hands.", "skill": "HandOver" }, { "start_frame": 1517, "end_frame": 1670, "action_text": "Dip the tea bag into the cup and lift it out.", "skill": "dip" }, { 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} }, { "episode_id": 693200, "task_id": 375, "task_name": "Brew tea", "init_scene_text": "Initial positions: The tea bag box, water cup, and kettle are placed on the table.\nThe initial positions of the items are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 52, "end_frame": 216, "action_text": "Lift the right arm with white teapot.", "skill": "Pick" }, { "start_frame": 216, "end_frame": 607, "action_text": "Pour the water from white teapot into the cup.", "skill": "Pour" }, { "start_frame": 607, "end_frame": 864, "action_text": "Place the right arm back on the table.", "skill": "Place" }, { "start_frame": 864, "end_frame": 1111, "action_text": "Lift the tea bag with the left arm.", "skill": "Pick" }, { "start_frame": 1111, "end_frame": 1287, "action_text": "Pass the tea bag with both hands.", "skill": "HandOver" }, { "start_frame": 1287, "end_frame": 1639, "action_text": "Dip the tea bag into the cup and lift it out.", "skill": "dip" }, { 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"dip" }, { "start_frame": 1950, "end_frame": 2078, "action_text": "Place the tea bag in the cup with the right arm, leaving the tea bag tag outside the cup.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693391, "task_id": 375, "task_name": "Brew tea", "init_scene_text": "Initial positions: The tea bag box, water cup, and kettle are placed on the table.\nThe initial positions of the items are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 62, "end_frame": 263, "action_text": "Lift the right arm with white teapot.", "skill": "Pick" }, { "start_frame": 263, "end_frame": 813, "action_text": "Pour the water from white teapot into the cup.", "skill": "Pour" }, { "start_frame": 813, "end_frame": 989, "action_text": "Place the right arm back on the table.", "skill": "Place" }, { "start_frame": 989, "end_frame": 1236, "action_text": "Lift the tea bag with the left arm.", "skill": "Pick" }, { "start_frame": 1236, "end_frame": 1420, "action_text": 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arm, leaving the tea bag tag outside the cup.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693460, "task_id": 375, "task_name": "Brew tea", "init_scene_text": "Initial positions: The tea bag box, water cup, and kettle are placed on the table.\nThe initial positions of the items are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 74, "end_frame": 243, "action_text": "Lift the right arm with white teapot.", "skill": "Pick" }, { "start_frame": 243, "end_frame": 674, "action_text": "Pour the water from white teapot into the cup.", "skill": "Pour" }, { "start_frame": 674, "end_frame": 962, "action_text": "Place the right arm back on the table.", "skill": "Place" }, { "start_frame": 962, "end_frame": 1166, "action_text": "Lift the tea bag with the left arm.", "skill": "Pick" }, { "start_frame": 1166, "end_frame": 1336, "action_text": "Pass the tea bag with both hands.", "skill": "HandOver" }, { "start_frame": 1336, "end_frame": 1500, 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693574, "task_id": 375, "task_name": "Brew tea", "init_scene_text": "Initial positions: The tea bag box, water cup, and kettle are placed on the table.\nThe initial positions of the items are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 60, "end_frame": 276, "action_text": "Lift the right arm with white teapot.", "skill": "Pick" }, { "start_frame": 276, "end_frame": 572, "action_text": "Pour the water from white teapot into the cup.", "skill": "Pour" }, { "start_frame": 572, "end_frame": 833, "action_text": "Place the right arm back on the table.", "skill": "Place" }, { "start_frame": 833, "end_frame": 1089, "action_text": "Lift the tea bag with the left arm.", "skill": "Pick" }, { "start_frame": 1089, "end_frame": 1252, "action_text": "Pass the tea bag with both hands.", "skill": "HandOver" }, { "start_frame": 1252, "end_frame": 1432, "action_text": "Dip the tea bag into the cup and lift it out.", "skill": "dip" }, { "start_frame": 1432, "end_frame": 1582, "action_text": "Dip the tea bag into the cup and lift it.", "skill": "dip" }, { "start_frame": 1582, "end_frame": 1688, "action_text": "Place the tea bag in the cup with the right arm, leaving the tea bag tag outside the cup.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693683, "task_id": 375, "task_name": "Brew tea", "init_scene_text": "Initial positions: The tea bag box, water cup, and kettle are placed on the table.\nThe initial positions of the items are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 59, "end_frame": 329, "action_text": "Lift the right arm with white teapot.", "skill": "Pick" }, { "start_frame": 329, "end_frame": 658, "action_text": "Pour the water from white teapot into the cup.", "skill": "Pour" }, { "start_frame": 658, "end_frame": 943, "action_text": "Place the right arm back on the table.", "skill": "Place" }, { "start_frame": 943, "end_frame": 1242, "action_text": "Lift the tea bag with the left arm.", 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375, "task_name": "Brew tea", "init_scene_text": "Initial positions: The tea bag box, water cup, and kettle are placed on the table.\nThe initial positions of the items are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 289, "action_text": "Lift the right arm with green teapot.", "skill": "Pick" }, { "start_frame": 289, "end_frame": 568, "action_text": "Pour the water from green teapot into the cup.", "skill": "Pour" }, { "start_frame": 568, "end_frame": 837, "action_text": "Place the right arm back on the table.", "skill": "Place" }, { "start_frame": 837, "end_frame": 1175, "action_text": "Lift the tea bag with the left arm.", "skill": "Pick" }, { "start_frame": 1175, "end_frame": 1423, "action_text": "Pass the tea bag with both hands.", "skill": "HandOver" }, { "start_frame": 1423, "end_frame": 1617, "action_text": "Dip the tea bag into the cup and lift it out.", "skill": "dip" }, { "start_frame": 1617, "end_frame": 1794, 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[] } }, { "episode_id": 673371, "task_id": 375, "task_name": "Brew tea", "init_scene_text": "Initial positions: The tea bag box, water cup, and kettle are placed on the table.\nThe initial positions of the items are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 272, "action_text": "Lift the right arm with green teapot.", "skill": "Pick" }, { "start_frame": 272, "end_frame": 591, "action_text": "Pour the water from green teapot into the cup.", "skill": "Pour" }, { "start_frame": 591, "end_frame": 814, "action_text": "Place the right arm back on the table.", "skill": "Place" }, { "start_frame": 814, "end_frame": 1077, "action_text": "Lift the tea bag with the left arm.", "skill": "Pick" }, { "start_frame": 1077, "end_frame": 1343, "action_text": "Pass the tea bag with both hands.", "skill": "HandOver" }, { "start_frame": 1343, "end_frame": 1523, "action_text": "Dip the tea bag into the cup and lift it out.", "skill": "dip" }, { 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673746, "task_id": 375, "task_name": "Brew tea", "init_scene_text": "Initial positions: The tea bag box, water cup, and kettle are placed on the table.\nThe initial positions of the items are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 308, "action_text": "Lift the right arm with green teapot.", "skill": "Pick" }, { "start_frame": 308, "end_frame": 626, "action_text": "Pour the water from green teapot into the cup.", "skill": "Pour" }, { "start_frame": 626, "end_frame": 933, "action_text": "Place the right arm back on the table.", "skill": "Place" }, { "start_frame": 933, "end_frame": 1136, "action_text": "Lift the tea bag with the left arm.", "skill": "Pick" }, { "start_frame": 1136, "end_frame": 1421, "action_text": "Pass the tea bag with both hands.", "skill": "HandOver" }, { "start_frame": 1421, "end_frame": 1664, "action_text": "Dip the tea bag into the cup and lift it out.", "skill": "dip" }, { "start_frame": 1664, "end_frame": 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