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378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 186, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 186, "end_frame": 397, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 397, "end_frame": 726, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 726, "end_frame": 937, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 937, "end_frame": 1183, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 1183, "end_frame": 1330, "action_text": "Pick up the plate 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"start_frame": 1380, "end_frame": 1601, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1601, "end_frame": 1804, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1804, "end_frame": 1958, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1958, "end_frame": 2102, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 2102, "end_frame": 2581, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 652622, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, 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"Pick" }, { "start_frame": 2401, "end_frame": 2497, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 2497, "end_frame": 2960, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 652651, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 195, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 195, "end_frame": 456, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 456, "end_frame": 748, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" 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2595, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 652667, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 365, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 365, "end_frame": 552, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 552, "end_frame": 840, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 840, "end_frame": 974, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 974, "end_frame": 1195, "action_text": "Place 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"task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 233, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 233, "end_frame": 409, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 409, "end_frame": 676, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 676, "end_frame": 820, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 820, "end_frame": 999, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 999, "end_frame": 1146, "action_text": "Pick up 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"action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 652789, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 148, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 148, "end_frame": 320, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 320, "end_frame": 670, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 670, "end_frame": 811, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 811, "end_frame": 996, "action_text": "Place the bowl 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"init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 161, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 161, "end_frame": 328, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 328, "end_frame": 588, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 588, "end_frame": 715, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 715, "end_frame": 919, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 919, "end_frame": 1066, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 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1611, "end_frame": 2010, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 653112, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 237, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 237, "end_frame": 495, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 495, "end_frame": 773, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 773, "end_frame": 888, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 888, "end_frame": 1037, 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"Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 124, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 124, "end_frame": 349, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 349, "end_frame": 617, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 617, "end_frame": 732, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 732, "end_frame": 871, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 871, "end_frame": 996, "action_text": "Pick up the plate on the table.", 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378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 170, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 170, "end_frame": 380, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 380, "end_frame": 587, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 587, "end_frame": 724, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 724, "end_frame": 871, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 871, "end_frame": 1128, "action_text": "Pick up the plate on 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"task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 219, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 219, "end_frame": 470, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 470, "end_frame": 735, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 735, "end_frame": 912, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 912, "end_frame": 1064, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 1064, "end_frame": 1201, "action_text": "Pick up 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"end_frame": 1385, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1385, "end_frame": 1499, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1499, "end_frame": 1671, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1671, "end_frame": 1874, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 685913, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 20, "end_frame": 149, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 149, 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"start_frame": 1707, "end_frame": 2128, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [ { "start": 1707, "end": 2128, "description": "" } ] } }, { "episode_id": 685968, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 106, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 106, "end_frame": 286, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 286, "end_frame": 397, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 397, "end_frame": 535, "action_text": "Pick up the bowl on the table.", 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{ "episode_id": 685996, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 21, "end_frame": 154, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 154, "end_frame": 411, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 411, "end_frame": 512, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 512, "end_frame": 667, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 667, "end_frame": 790, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 790, "end_frame": 936, 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"init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 121, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 121, "end_frame": 325, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 325, "end_frame": 487, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 487, "end_frame": 652, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 652, "end_frame": 776, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 776, "end_frame": 974, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 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{ "start_frame": 1394, "end_frame": 1517, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1517, "end_frame": 1616, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1616, "end_frame": 1866, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [ { "start": 113, "end": 408, "description": "" } ] } }, { "episode_id": 686470, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 16, "end_frame": 133, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 133, "end_frame": 321, "action_text": "Pick up the fork on the 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"start_frame": 1492, "end_frame": 1577, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1577, "end_frame": 1822, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 686484, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 112, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 112, "end_frame": 292, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 292, "end_frame": 388, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { 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378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 145, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 145, "end_frame": 538, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 538, "end_frame": 816, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 816, "end_frame": 978, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 978, "end_frame": 1129, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 1129, "end_frame": 1273, "action_text": "Pick up the plate 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}, { "episode_id": 648350, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 149, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 149, "end_frame": 381, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 381, "end_frame": 536, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 536, "end_frame": 668, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 668, "end_frame": 845, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 845, "end_frame": 1005, 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378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 130, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 130, "end_frame": 352, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 352, "end_frame": 539, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 539, "end_frame": 674, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 674, "end_frame": 814, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 814, "end_frame": 995, "action_text": "Pick up the plate on 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"task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 157, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 157, "end_frame": 346, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 346, "end_frame": 503, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 503, "end_frame": 617, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 617, "end_frame": 747, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 747, "end_frame": 884, "action_text": "Pick up the plate on the 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378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 91, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 91, "end_frame": 307, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 307, "end_frame": 523, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 523, "end_frame": 688, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 688, "end_frame": 870, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 870, "end_frame": 1086, "action_text": "Pick up the plate on 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"end_frame": 1692, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1692, "end_frame": 1897, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1897, "end_frame": 2062, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 2062, "end_frame": 2502, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 653628, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 136, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 136, "end_frame": 349, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 349, "end_frame": 497, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 497, "end_frame": 666, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 666, "end_frame": 897, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 897, "end_frame": 1081, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 1081, "end_frame": 1342, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 1342, "end_frame": 1615, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1615, "end_frame": 1846, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1846, "end_frame": 2019, "action_text": "Pick up 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"start_frame": 1995, "end_frame": 2477, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 653662, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 146, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 146, "end_frame": 413, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 413, "end_frame": 596, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 596, "end_frame": 760, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 760, "end_frame": 925, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 925, "end_frame": 1115, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 1115, "end_frame": 1312, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 1312, "end_frame": 1553, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1553, "end_frame": 1795, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1795, "end_frame": 1977, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1977, "end_frame": 2142, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 2142, "end_frame": 2541, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 653671, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 155, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 155, "end_frame": 359, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 359, "end_frame": 563, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 563, "end_frame": 713, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 713, "end_frame": 851, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 851, "end_frame": 1028, "action_text": "Pick up the plate on 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"start_frame": 1282, "end_frame": 1603, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1603, "end_frame": 1815, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1815, "end_frame": 1938, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1938, "end_frame": 2096, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 2096, "end_frame": 2601, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 651601, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 49, "end_frame": 180, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 180, "end_frame": 330, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 330, "end_frame": 485, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 485, "end_frame": 597, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 597, "end_frame": 741, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 741, "end_frame": 896, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 896, "end_frame": 1054, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 1054, "end_frame": 1158, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1158, "end_frame": 1346, "action_text": "Place the 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"start_frame": 1465, "end_frame": 1556, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1556, "end_frame": 1719, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 683814, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 117, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 117, "end_frame": 286, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 286, "end_frame": 385, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 385, "end_frame": 502, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 502, "end_frame": 588, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 588, "end_frame": 752, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 752, "end_frame": 882, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 882, "end_frame": 1023, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1023, "end_frame": 1148, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1148, "end_frame": 1259, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1259, "end_frame": 1353, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1353, "end_frame": 1473, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 683833, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 127, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 127, "end_frame": 295, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 295, "end_frame": 416, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 416, "end_frame": 499, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 499, "end_frame": 582, "action_text": "Place the bowl 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"init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 95, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 95, "end_frame": 271, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 271, "end_frame": 400, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 400, "end_frame": 490, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 490, "end_frame": 581, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 581, "end_frame": 733, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 733, "end_frame": 875, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 875, "end_frame": 1027, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1027, "end_frame": 1135, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1135, "end_frame": 1254, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1254, "end_frame": 1360, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1360, "end_frame": 1517, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 683864, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of 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counter.", "skill": "Place" }, { "start_frame": 110, "end_frame": 336, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 336, "end_frame": 472, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 472, "end_frame": 545, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 545, "end_frame": 644, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 644, "end_frame": 810, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 810, "end_frame": 994, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 994, "end_frame": 1166, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1166, "end_frame": 1316, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1316, "end_frame": 1463, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1463, "end_frame": 1616, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1616, "end_frame": 1759, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 683884, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 104, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 104, "end_frame": 294, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 294, "end_frame": 390, 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the plate on the table.", "skill": "Place" }, { "start_frame": 1499, "end_frame": 1660, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 683894, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 94, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 94, "end_frame": 264, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 264, "end_frame": 364, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 364, "end_frame": 482, "action_text": "Pick up the bowl on the table.", 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"episode_id": 683936, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 115, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 115, "end_frame": 279, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 279, "end_frame": 373, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 373, "end_frame": 474, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 474, "end_frame": 568, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 568, "end_frame": 789, 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"end_frame": 1538, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 684016, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 80, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 80, "end_frame": 274, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 274, "end_frame": 387, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 387, "end_frame": 480, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 480, "end_frame": 550, "action_text": 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"action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1260, "end_frame": 1431, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 684108, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 89, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 89, "end_frame": 290, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 290, "end_frame": 417, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 417, "end_frame": 510, 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tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 684121, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 76, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 76, "end_frame": 270, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 270, "end_frame": 384, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 384, "end_frame": 481, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 481, "end_frame": 557, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 557, "end_frame": 784, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 784, "end_frame": 908, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 908, "end_frame": 1098, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1098, "end_frame": 1190, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1190, "end_frame": 1329, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1329, "end_frame": 1391, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1391, "end_frame": 1568, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 684133, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The 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"start_frame": 1038, "end_frame": 1148, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1148, "end_frame": 1264, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1264, "end_frame": 1349, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1349, "end_frame": 1512, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 684227, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 87, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 87, "end_frame": 270, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 270, "end_frame": 372, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 372, "end_frame": 455, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 455, "end_frame": 521, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 521, "end_frame": 710, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 710, "end_frame": 860, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 860, "end_frame": 1005, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1005, "end_frame": 1084, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1084, "end_frame": 1194, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1194, "end_frame": 1261, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1261, "end_frame": 1421, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 684245, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 97, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 97, "end_frame": 310, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 310, "end_frame": 392, "action_text": "Place the held 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"skill": "Place" }, { "start_frame": 1410, "end_frame": 1604, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 684259, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 74, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 74, "end_frame": 286, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 286, "end_frame": 385, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 385, "end_frame": 483, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { 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684279, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 91, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 91, "end_frame": 268, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 268, "end_frame": 376, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 376, "end_frame": 465, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 465, "end_frame": 551, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 551, "end_frame": 760, "action_text": "Pick 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table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 84, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 84, "end_frame": 270, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 270, "end_frame": 379, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 379, "end_frame": 480, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 480, "end_frame": 537, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 537, "end_frame": 725, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 725, "end_frame": 834, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 834, "end_frame": 1037, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1037, "end_frame": 1130, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1130, "end_frame": 1286, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1286, "end_frame": 1346, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1346, "end_frame": 1519, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 684385, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the 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"action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1108, "end_frame": 1188, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1188, "end_frame": 1334, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1334, "end_frame": 1410, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1410, "end_frame": 1607, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 684405, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 73, "action_text": "Coordinate 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"Place" }, { "start_frame": 1123, "end_frame": 1273, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1273, "end_frame": 1337, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1337, "end_frame": 1515, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 684424, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 84, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 84, "end_frame": 283, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 283, "end_frame": 402, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 402, "end_frame": 511, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 511, "end_frame": 591, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 591, "end_frame": 790, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 790, "end_frame": 951, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 951, "end_frame": 1128, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1128, "end_frame": 1266, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1266, "end_frame": 1397, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1397, "end_frame": 1516, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1516, "end_frame": 1694, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 684633, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 97, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 97, "end_frame": 295, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 295, "end_frame": 405, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 405, "end_frame": 487, "action_text": "Pick up 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], "key_frame": [] } }, { "episode_id": 684645, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 91, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 91, "end_frame": 270, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 270, "end_frame": 377, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 377, "end_frame": 497, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 497, "end_frame": 563, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 563, 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"start_frame": 1568, "end_frame": 1701, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 684743, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 5, "end_frame": 104, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 104, "end_frame": 250, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 250, "end_frame": 396, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 396, "end_frame": 488, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 488, 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"task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 5, "end_frame": 107, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 107, "end_frame": 273, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 273, "end_frame": 414, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 414, "end_frame": 505, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 505, "end_frame": 587, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 587, "end_frame": 751, "action_text": "Pick up the plate on the 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held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1126, "end_frame": 1267, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1267, "end_frame": 1346, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1346, "end_frame": 1490, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 684960, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 91, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 91, "end_frame": 261, "action_text": "Pick up the fork on 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"start_frame": 1299, "end_frame": 1374, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1374, "end_frame": 1502, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 684972, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 92, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 92, "end_frame": 330, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 330, "end_frame": 434, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 434, "end_frame": 525, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 525, "end_frame": 599, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 599, "end_frame": 824, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 824, "end_frame": 978, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 978, "end_frame": 1140, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1140, "end_frame": 1231, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1231, "end_frame": 1363, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1363, "end_frame": 1441, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1441, "end_frame": 1613, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 684985, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 101, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 101, "end_frame": 264, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 264, "end_frame": 381, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 381, "end_frame": 449, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 449, "end_frame": 523, "action_text": "Place the bowl 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"init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 96, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 96, "end_frame": 268, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 268, "end_frame": 389, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 389, "end_frame": 484, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 484, "end_frame": 591, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 591, "end_frame": 752, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 752, "end_frame": 924, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 924, "end_frame": 1068, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1068, "end_frame": 1168, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1168, "end_frame": 1294, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1294, "end_frame": 1359, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1359, "end_frame": 1515, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 685002, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of 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1290, "end_frame": 1402, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1402, "end_frame": 1480, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1480, "end_frame": 1670, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 685256, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 92, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 92, "end_frame": 402, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 402, "end_frame": 535, 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"episode_id": 685313, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 103, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 103, "end_frame": 321, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 321, "end_frame": 450, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 450, "end_frame": 541, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 541, "end_frame": 608, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 608, "end_frame": 765, 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"end_frame": 1840, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 685418, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 87, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 87, "end_frame": 317, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 317, "end_frame": 444, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 444, "end_frame": 561, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 561, "end_frame": 655, "action_text": 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"Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 104, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 104, "end_frame": 379, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 379, "end_frame": 533, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 533, "end_frame": 646, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 646, "end_frame": 750, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 750, "end_frame": 1062, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 1062, "end_frame": 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{ "episode_id": 671927, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 116, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 116, "end_frame": 320, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 320, "end_frame": 453, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 453, "end_frame": 553, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 553, "end_frame": 642, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 642, "end_frame": 790, 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table.", "skill": "Pick" }, { "start_frame": 1187, "end_frame": 1269, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1269, "end_frame": 1393, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 672340, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 83, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 83, "end_frame": 263, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 263, "end_frame": 447, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 447, "end_frame": 561, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 561, "end_frame": 657, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 657, "end_frame": 837, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 837, "end_frame": 1047, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 1047, "end_frame": 1195, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1195, "end_frame": 1319, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1319, "end_frame": 1440, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1440, "end_frame": 1525, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1525, "end_frame": 1715, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 672389, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 140, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 140, "end_frame": 308, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 308, "end_frame": 507, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 507, "end_frame": 612, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 612, "end_frame": 726, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 726, "end_frame": 903, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 903, "end_frame": 1100, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 1100, "end_frame": 1244, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1244, "end_frame": 1339, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1339, "end_frame": 1454, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1454, "end_frame": 1542, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1542, "end_frame": 1689, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 672408, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 92, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 92, "end_frame": 281, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 281, "end_frame": 452, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 452, "end_frame": 546, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 546, "end_frame": 658, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 658, "end_frame": 882, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 882, "end_frame": 1085, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 1085, "end_frame": 1224, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1224, "end_frame": 1329, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1329, "end_frame": 1448, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1448, "end_frame": 1543, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1543, "end_frame": 1758, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 672424, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the 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1225, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1225, "end_frame": 1333, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1333, "end_frame": 1474, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1474, "end_frame": 1608, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1608, "end_frame": 1785, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 672442, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 111, "action_text": 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tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 672492, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 112, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 112, "end_frame": 299, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 299, "end_frame": 456, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 456, "end_frame": 552, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 552, "end_frame": 658, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 658, "end_frame": 832, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 832, "end_frame": 991, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 991, "end_frame": 1166, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1166, "end_frame": 1280, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1280, "end_frame": 1414, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1414, "end_frame": 1501, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1501, "end_frame": 1658, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 672542, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The 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"skill": "Place" }, { "start_frame": 1711, "end_frame": 1983, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 672618, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 90, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 90, "end_frame": 309, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 309, "end_frame": 456, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 456, "end_frame": 565, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { 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672626, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 81, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 81, "end_frame": 283, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 283, "end_frame": 410, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 410, "end_frame": 558, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 558, "end_frame": 717, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 717, "end_frame": 917, "action_text": "Pick 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378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 126, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 126, "end_frame": 334, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 334, "end_frame": 533, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 533, "end_frame": 648, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 648, "end_frame": 778, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 778, "end_frame": 953, "action_text": "Pick up the plate on 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arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 673439, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 121, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 121, "end_frame": 296, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 296, "end_frame": 432, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 432, "end_frame": 522, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 522, "end_frame": 594, "action_text": "Place the bowl on the plate on the 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"Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 133, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 133, "end_frame": 306, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 306, "end_frame": 457, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 457, "end_frame": 540, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 540, "end_frame": 641, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 641, "end_frame": 782, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 782, "end_frame": 944, 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"Stack" }, { "start_frame": 1032, "end_frame": 1172, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1172, "end_frame": 1275, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1275, "end_frame": 1411, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1411, "end_frame": 1503, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1503, "end_frame": 1621, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 673847, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 109, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 109, "end_frame": 271, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 271, "end_frame": 411, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 411, "end_frame": 499, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 499, "end_frame": 574, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 574, "end_frame": 732, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 732, "end_frame": 913, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 913, "end_frame": 1068, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1068, "end_frame": 1168, 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1360, "end_frame": 1511, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 674005, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 112, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 112, "end_frame": 268, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 268, "end_frame": 408, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 408, "end_frame": 517, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 517, "end_frame": 610, 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"Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1309, "end_frame": 1445, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 677538, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 105, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 105, "end_frame": 232, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 232, "end_frame": 393, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 393, "end_frame": 481, "action_text": "Pick up 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], "key_frame": [] } }, { "episode_id": 677557, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 105, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 105, "end_frame": 270, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 270, "end_frame": 431, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 431, "end_frame": 510, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 510, "end_frame": 614, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 614, "end_frame": 744, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 744, "end_frame": 940, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 940, "end_frame": 1095, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1095, "end_frame": 1199, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1199, "end_frame": 1324, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1324, "end_frame": 1417, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1417, "end_frame": 1590, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 677568, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty 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tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 677621, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 86, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 86, "end_frame": 238, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 238, "end_frame": 403, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 403, "end_frame": 489, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 489, "end_frame": 579, "action_text": "Place the bowl on the plate on the counter.", "skill": 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"skill": "Place" }, { "start_frame": 1438, "end_frame": 1562, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 677686, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 93, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 93, "end_frame": 270, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 270, "end_frame": 436, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 436, "end_frame": 521, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 521, "end_frame": 622, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 622, "end_frame": 781, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 781, "end_frame": 982, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 982, "end_frame": 1111, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1111, "end_frame": 1219, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1219, "end_frame": 1332, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1332, "end_frame": 1417, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1417, "end_frame": 1656, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 677704, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 96, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 96, "end_frame": 341, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 341, "end_frame": 505, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 505, "end_frame": 582, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 582, "end_frame": 686, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 686, "end_frame": 859, "action_text": "Pick 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and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 102, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 102, "end_frame": 362, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 362, "end_frame": 496, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 496, "end_frame": 587, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 587, "end_frame": 672, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 672, "end_frame": 873, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 873, "end_frame": 1066, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 1066, "end_frame": 1192, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1192, "end_frame": 1302, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1302, "end_frame": 1406, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1406, "end_frame": 1534, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1534, "end_frame": 1629, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 677774, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 102, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 102, "end_frame": 253, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 253, "end_frame": 408, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 408, "end_frame": 505, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 505, "end_frame": 597, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 597, "end_frame": 777, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 777, "end_frame": 982, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 982, "end_frame": 1111, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1111, "end_frame": 1239, "action_text": "Place the held 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"start_frame": 1409, "end_frame": 1491, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1491, "end_frame": 1604, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 677816, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 92, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 92, "end_frame": 303, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 303, "end_frame": 468, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 468, "end_frame": 544, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 544, "end_frame": 651, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 651, "end_frame": 802, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 802, "end_frame": 1002, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 1002, "end_frame": 1157, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1157, "end_frame": 1303, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1303, "end_frame": 1432, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1432, "end_frame": 1520, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1520, "end_frame": 1695, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 677824, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 96, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 96, "end_frame": 298, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 298, "end_frame": 487, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 487, "end_frame": 559, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 559, "end_frame": 660, "action_text": "Place the bowl on 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"init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 105, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 105, "end_frame": 295, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 295, "end_frame": 480, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 480, "end_frame": 561, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 561, "end_frame": 666, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 666, "end_frame": 806, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 806, "end_frame": 958, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 958, "end_frame": 1102, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1102, "end_frame": 1225, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1225, "end_frame": 1340, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1340, "end_frame": 1418, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1418, "end_frame": 1551, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 677855, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial 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"start_frame": 1258, "end_frame": 1354, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1354, "end_frame": 1454, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1454, "end_frame": 1583, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 677892, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 84, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 84, "end_frame": 263, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 263, 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"key_frame": [] } }, { "episode_id": 677923, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 119, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 119, "end_frame": 288, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 288, "end_frame": 407, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 407, "end_frame": 521, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 521, "end_frame": 640, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 640, 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"start_frame": 1565, "end_frame": 1766, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1766, "end_frame": 1942, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1942, "end_frame": 2080, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 2080, "end_frame": 2191, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 2191, "end_frame": 2780, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 666194, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 237, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 237, "end_frame": 535, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 535, "end_frame": 742, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 742, "end_frame": 892, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 892, "end_frame": 1034, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 1034, "end_frame": 1282, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 1282, "end_frame": 1498, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 1498, "end_frame": 1735, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1735, "end_frame": 1950, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1950, "end_frame": 2117, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 2117, "end_frame": 2210, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 2210, "end_frame": 2741, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 666251, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 192, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 192, "end_frame": 526, "action_text": "Pick up the 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{ "start_frame": 2228, "end_frame": 2334, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 2334, "end_frame": 2851, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 666288, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 204, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 204, "end_frame": 579, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 579, "end_frame": 834, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 834, "end_frame": 1012, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 1012, "end_frame": 1166, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 1166, "end_frame": 1401, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 1401, "end_frame": 1600, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 1600, "end_frame": 1926, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1926, "end_frame": 2124, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 2124, "end_frame": 2306, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 2306, "end_frame": 2397, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 2397, "end_frame": 2896, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 666680, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 221, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 221, "end_frame": 521, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 521, "end_frame": 748, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 748, "end_frame": 872, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 872, "end_frame": 1015, "action_text": "Place the bowl 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"init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 154, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 154, "end_frame": 463, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 463, "end_frame": 706, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 706, "end_frame": 870, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 870, "end_frame": 1018, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 1018, "end_frame": 1323, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 1323, "end_frame": 1487, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 1487, "end_frame": 1692, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1692, "end_frame": 1904, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1904, "end_frame": 2101, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 2101, "end_frame": 2220, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 2220, "end_frame": 2761, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 666727, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial 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"start_frame": 598, "end_frame": 823, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 823, "end_frame": 981, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 981, "end_frame": 1113, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 1113, "end_frame": 1456, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 1456, "end_frame": 1712, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 1712, "end_frame": 1915, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1915, "end_frame": 2137, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 2137, "end_frame": 2470, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 2470, "end_frame": 2603, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 2603, "end_frame": 3161, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 666793, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 275, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 275, "end_frame": 450, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 450, "end_frame": 717, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 717, "end_frame": 891, 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the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 666811, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 222, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 222, "end_frame": 511, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 511, "end_frame": 744, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 744, "end_frame": 930, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 930, "end_frame": 1092, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 1092, "end_frame": 1350, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 1350, "end_frame": 1508, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 1508, "end_frame": 1753, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1753, "end_frame": 1933, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1933, "end_frame": 2153, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 2153, "end_frame": 2280, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 2280, "end_frame": 2766, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 666870, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: 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"action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 1667, "end_frame": 1887, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1887, "end_frame": 2099, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 2099, "end_frame": 2366, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 2366, "end_frame": 2469, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 2469, "end_frame": 3013, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 666932, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the 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"start_frame": 2597, "end_frame": 3215, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [ { "start": 2967, "end": 3146, "description": "" } ] } }, { "episode_id": 667887, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 147, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 147, "end_frame": 499, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 499, "end_frame": 695, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 695, "end_frame": 910, "action_text": "Pick up the bowl on the table.", 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} }, { "episode_id": 667904, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 113, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 113, "end_frame": 481, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 481, "end_frame": 746, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 746, "end_frame": 897, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 897, "end_frame": 1103, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 1103, "end_frame": 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378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 160, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 160, "end_frame": 392, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 392, "end_frame": 592, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 592, "end_frame": 744, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 744, "end_frame": 877, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 877, "end_frame": 1085, "action_text": "Pick up the plate on 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{ "start_frame": 2172, "end_frame": 2279, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 2279, "end_frame": 2740, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 668106, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 173, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 173, "end_frame": 532, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 532, "end_frame": 810, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 810, "end_frame": 979, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 979, "end_frame": 1162, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 1162, "end_frame": 1404, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 1404, "end_frame": 1582, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 1582, "end_frame": 1763, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1763, "end_frame": 1941, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1941, "end_frame": 2188, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 2188, "end_frame": 2292, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 2292, "end_frame": 2810, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 668120, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 156, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 156, "end_frame": 552, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 552, "end_frame": 837, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 837, "end_frame": 959, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 959, "end_frame": 1169, "action_text": "Place the bowl 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"init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 227, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 227, "end_frame": 525, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 525, "end_frame": 728, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 728, "end_frame": 880, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 880, "end_frame": 1013, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 1013, "end_frame": 1247, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 1247, "end_frame": 1431, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 1431, "end_frame": 1639, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1639, "end_frame": 1780, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1780, "end_frame": 2002, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 2002, "end_frame": 2111, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 2111, "end_frame": 2689, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 668187, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial 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}, { "start_frame": 2040, "end_frame": 2255, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 2255, "end_frame": 2407, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 2407, "end_frame": 2905, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 668698, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 175, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 175, "end_frame": 365, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 365, 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"key_frame": [] } }, { "episode_id": 668740, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 150, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 150, "end_frame": 325, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 325, "end_frame": 432, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 432, "end_frame": 566, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 566, "end_frame": 687, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 687, 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table.", "skill": "Place" }, { "start_frame": 1612, "end_frame": 1897, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 668862, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 212, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 212, "end_frame": 370, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 370, "end_frame": 477, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 477, "end_frame": 628, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, 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668882, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 168, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 168, "end_frame": 354, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 354, "end_frame": 473, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 473, "end_frame": 606, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 606, "end_frame": 743, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 743, "end_frame": 964, "action_text": 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bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 153, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 153, "end_frame": 307, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 307, "end_frame": 450, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 450, "end_frame": 587, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 587, "end_frame": 717, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 717, "end_frame": 858, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 858, "end_frame": 995, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": 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"action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1566, "end_frame": 1695, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1695, "end_frame": 1803, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1803, "end_frame": 2132, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 669551, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 167, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 167, "end_frame": 349, 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1515, "end_frame": 1842, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 669589, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 183, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 183, "end_frame": 365, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 365, "end_frame": 471, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 471, "end_frame": 625, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 625, "end_frame": 745, 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"Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 201, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 201, "end_frame": 371, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 371, "end_frame": 503, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 503, "end_frame": 644, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 644, "end_frame": 766, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 766, "end_frame": 913, "action_text": "Pick up the plate on the table.", 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tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 669780, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 127, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 127, "end_frame": 355, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 355, "end_frame": 479, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 479, "end_frame": 600, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 600, "end_frame": 720, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 720, "end_frame": 868, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 868, "end_frame": 1006, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 1006, "end_frame": 1168, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1168, "end_frame": 1282, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1282, "end_frame": 1423, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1423, "end_frame": 1499, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1499, "end_frame": 1817, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 669836, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The 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the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 1043, "end_frame": 1236, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1236, "end_frame": 1415, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1415, "end_frame": 1532, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1532, "end_frame": 1646, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1646, "end_frame": 1942, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 669846, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 164, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 164, "end_frame": 299, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 299, "end_frame": 441, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 441, "end_frame": 560, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 560, "end_frame": 681, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 681, "end_frame": 809, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 809, "end_frame": 954, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 954, "end_frame": 1098, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1098, "end_frame": 1252, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1252, "end_frame": 1366, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1366, "end_frame": 1473, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1473, "end_frame": 1731, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 669862, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 136, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { 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"action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1418, "end_frame": 1520, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1520, "end_frame": 1789, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 669875, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 161, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 161, "end_frame": 304, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 304, "end_frame": 434, "action_text": "Place the held 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"skill": "Place" }, { "start_frame": 1456, "end_frame": 1720, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 669887, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 213, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 213, "end_frame": 365, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 365, "end_frame": 570, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 570, "end_frame": 695, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { 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669897, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 183, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 183, "end_frame": 345, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 345, "end_frame": 476, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 476, "end_frame": 598, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 598, "end_frame": 746, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 746, "end_frame": 896, "action_text": 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bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 153, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 153, "end_frame": 353, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 353, "end_frame": 470, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 470, "end_frame": 580, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 580, "end_frame": 693, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 693, "end_frame": 816, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 816, "end_frame": 935, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 935, "end_frame": 1070, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1070, "end_frame": 1211, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1211, "end_frame": 1352, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1352, "end_frame": 1465, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1465, "end_frame": 1740, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 669940, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 169, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 169, "end_frame": 328, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 328, "end_frame": 439, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 439, "end_frame": 573, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 573, "end_frame": 693, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 693, "end_frame": 842, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 842, "end_frame": 963, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 963, "end_frame": 1150, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1150, "end_frame": 1293, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1293, "end_frame": 1442, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1442, "end_frame": 1582, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1582, "end_frame": 1814, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 669953, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 171, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 171, "end_frame": 325, 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"start_frame": 1769, "end_frame": 2031, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 670004, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 147, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 147, "end_frame": 318, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 318, "end_frame": 447, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 447, "end_frame": 537, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 537, 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"task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 183, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 183, "end_frame": 364, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 364, "end_frame": 499, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 499, "end_frame": 606, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 606, "end_frame": 697, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 697, "end_frame": 867, "action_text": "Pick up the plate on the 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"skill": "Place" }, { "start_frame": 1518, "end_frame": 1834, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 670600, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 206, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 206, "end_frame": 375, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 375, "end_frame": 592, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 592, "end_frame": 718, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { 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670629, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 159, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 159, "end_frame": 323, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 323, "end_frame": 473, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 473, "end_frame": 567, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 567, "end_frame": 676, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 676, "end_frame": 828, "action_text": 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"action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1389, "end_frame": 1526, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1526, "end_frame": 1615, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1615, "end_frame": 1918, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 670932, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 165, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 165, "end_frame": 414, 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"episode_id": 670976, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 170, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 170, "end_frame": 331, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 331, "end_frame": 474, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 474, "end_frame": 599, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 599, "end_frame": 744, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 744, "end_frame": 895, 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"start_frame": 1555, "end_frame": 1849, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 671031, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 158, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 158, "end_frame": 543, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 543, "end_frame": 682, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 682, "end_frame": 806, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 806, 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"" } ] } }, { "episode_id": 671041, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 158, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 158, "end_frame": 328, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 328, "end_frame": 459, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 459, "end_frame": 606, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 606, "end_frame": 715, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 715, 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"task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 142, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 142, "end_frame": 323, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 323, "end_frame": 429, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 429, "end_frame": 571, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 571, "end_frame": 676, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 676, "end_frame": 830, "action_text": "Pick up the plate on the 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1478, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1478, "end_frame": 1778, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 665760, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 129, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 129, "end_frame": 266, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 266, "end_frame": 380, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 380, "end_frame": 509, 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tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 665777, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 95, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 95, "end_frame": 216, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 216, "end_frame": 360, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 360, "end_frame": 465, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 465, "end_frame": 573, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 573, "end_frame": 702, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 702, "end_frame": 887, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 887, "end_frame": 1032, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1032, "end_frame": 1158, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1158, "end_frame": 1306, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1306, "end_frame": 1407, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1407, "end_frame": 1746, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 665798, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The 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"start_frame": 1070, "end_frame": 1264, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1264, "end_frame": 1415, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1415, "end_frame": 1513, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1513, "end_frame": 1755, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 665914, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 89, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { 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"action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1212, "end_frame": 1343, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1343, "end_frame": 1615, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 665933, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 96, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 96, "end_frame": 199, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 199, "end_frame": 313, "action_text": "Place the held 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"skill": "Place" }, { "start_frame": 1308, "end_frame": 1546, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 665967, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 90, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 90, "end_frame": 210, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 210, "end_frame": 372, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 372, "end_frame": 484, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 484, "end_frame": 555, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 555, "end_frame": 667, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 667, "end_frame": 831, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 831, "end_frame": 981, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 981, "end_frame": 1145, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1145, "end_frame": 1309, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1309, "end_frame": 1440, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1440, "end_frame": 1753, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 665982, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 91, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 91, "end_frame": 229, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 229, "end_frame": 357, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 357, "end_frame": 479, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 479, "end_frame": 558, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 558, "end_frame": 680, "action_text": "Pick up the 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arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 666413, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 100, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 100, "end_frame": 215, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 215, "end_frame": 361, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 361, "end_frame": 453, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 453, "end_frame": 553, "action_text": "Place the bowl on the plate on the 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"action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 895, "end_frame": 1028, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1028, "end_frame": 1177, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1177, "end_frame": 1292, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1292, "end_frame": 1387, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1387, "end_frame": 1744, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 666442, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table 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"skill": "Pick" }, { "start_frame": 907, "end_frame": 1021, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1021, "end_frame": 1140, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1140, "end_frame": 1243, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1243, "end_frame": 1497, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 666471, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 85, "action_text": "Coordinate arms to place the tray on the counter.", "skill": 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"action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1127, "end_frame": 1248, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1248, "end_frame": 1513, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 666484, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 99, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 99, "end_frame": 218, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 218, "end_frame": 337, "action_text": "Place the held 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"skill": "Place" }, { "start_frame": 1326, "end_frame": 1660, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 666497, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 110, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 110, "end_frame": 244, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 244, "end_frame": 372, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 372, "end_frame": 460, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 460, "end_frame": 575, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 575, "end_frame": 706, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 706, "end_frame": 854, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 854, "end_frame": 980, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 980, "end_frame": 1128, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1128, "end_frame": 1265, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1265, "end_frame": 1374, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1374, "end_frame": 1588, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 666550, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 139, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 139, "end_frame": 278, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 278, "end_frame": 460, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 460, "end_frame": 577, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 577, "end_frame": 713, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 713, "end_frame": 877, "action_text": "Pick up the 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1314, "end_frame": 1437, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1437, "end_frame": 1679, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 666648, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 116, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 116, "end_frame": 219, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 219, "end_frame": 328, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 328, 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arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 666656, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 89, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 89, "end_frame": 222, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 222, "end_frame": 368, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 368, "end_frame": 481, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 481, "end_frame": 587, "action_text": "Place the bowl on the plate on the 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"Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 107, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 107, "end_frame": 207, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 207, "end_frame": 340, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 340, "end_frame": 440, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 440, "end_frame": 550, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 550, "end_frame": 670, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 670, "end_frame": 818, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 818, "end_frame": 974, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 974, "end_frame": 1125, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1125, "end_frame": 1248, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1248, "end_frame": 1381, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1381, "end_frame": 1640, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 666707, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table 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"task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 113, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 113, "end_frame": 306, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 306, "end_frame": 448, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 448, "end_frame": 560, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 560, "end_frame": 650, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 650, "end_frame": 806, "action_text": "Pick up the plate on the 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281, "end_frame": 403, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 403, "end_frame": 503, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 503, "end_frame": 595, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 595, "end_frame": 748, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 748, "end_frame": 881, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 881, "end_frame": 1023, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1023, "end_frame": 1136, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1136, "end_frame": 1248, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1248, "end_frame": 1337, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1337, "end_frame": 1521, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 667598, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 124, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 124, "end_frame": 301, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 301, "end_frame": 465, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 465, "end_frame": 589, "action_text": "Pick up 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} ], "key_frame": [] } }, { "episode_id": 678216, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 133, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 133, "end_frame": 302, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 302, "end_frame": 427, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 427, "end_frame": 534, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 534, "end_frame": 630, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 630, "end_frame": 786, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 786, "end_frame": 948, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 948, "end_frame": 1122, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1122, "end_frame": 1213, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1213, "end_frame": 1338, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1338, "end_frame": 1442, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1442, "end_frame": 1622, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 678247, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty 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"end_frame": 1264, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1264, "end_frame": 1388, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1388, "end_frame": 1485, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1485, "end_frame": 1714, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 678334, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 108, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 108, "end_frame": 278, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 278, "end_frame": 409, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 409, "end_frame": 494, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 494, "end_frame": 571, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 571, "end_frame": 752, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 752, "end_frame": 909, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 909, "end_frame": 1099, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1099, "end_frame": 1218, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1218, "end_frame": 1333, "action_text": "Pick up the 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"start_frame": 1560, "end_frame": 1701, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 678377, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 115, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 115, "end_frame": 292, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 292, "end_frame": 420, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 420, "end_frame": 525, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 525, 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"task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 95, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 95, "end_frame": 273, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 273, "end_frame": 407, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 407, "end_frame": 492, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 492, "end_frame": 588, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 588, "end_frame": 742, "action_text": "Pick up the plate on the 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"end_frame": 1565, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1565, "end_frame": 1761, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 678545, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 109, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 109, "end_frame": 266, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 266, "end_frame": 426, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 426, 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arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 678560, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 126, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 126, "end_frame": 304, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 304, "end_frame": 433, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 433, "end_frame": 550, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 550, "end_frame": 662, "action_text": "Place the bowl on the plate on the 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"Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 122, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 122, "end_frame": 305, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 305, "end_frame": 427, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 427, "end_frame": 514, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 514, "end_frame": 612, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 612, "end_frame": 845, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 845, "end_frame": 994, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 994, "end_frame": 1161, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1161, "end_frame": 1311, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1311, "end_frame": 1454, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1454, "end_frame": 1576, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1576, "end_frame": 1794, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 678592, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table 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"skill": "Pick" }, { "start_frame": 1216, "end_frame": 1345, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1345, "end_frame": 1471, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1471, "end_frame": 1565, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1565, "end_frame": 1705, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 678607, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 140, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 140, "end_frame": 336, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 336, "end_frame": 463, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 463, "end_frame": 527, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 527, "end_frame": 627, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 627, "end_frame": 823, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 823, "end_frame": 968, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 968, "end_frame": 1116, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1116, "end_frame": 1240, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1240, "end_frame": 1377, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1377, "end_frame": 1517, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1517, "end_frame": 1676, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 678635, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 118, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 118, "end_frame": 284, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 284, "end_frame": 423, "action_text": "Place 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table.", "skill": "Place" }, { "start_frame": 1522, "end_frame": 1659, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 678680, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 123, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 123, "end_frame": 423, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 423, "end_frame": 579, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 579, "end_frame": 761, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 761, "end_frame": 891, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 891, "end_frame": 1177, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 1177, "end_frame": 1403, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 1403, "end_frame": 1641, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1641, "end_frame": 1782, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1782, "end_frame": 1990, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1990, "end_frame": 2124, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 2124, "end_frame": 2381, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 678746, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 120, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 120, "end_frame": 404, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 404, "end_frame": 570, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 570, "end_frame": 699, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 699, "end_frame": 791, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 791, "end_frame": 1086, "action_text": 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bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 116, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 116, "end_frame": 333, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 333, "end_frame": 496, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 496, "end_frame": 641, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 641, "end_frame": 753, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 753, "end_frame": 937, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 937, "end_frame": 1145, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 1145, "end_frame": 1341, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1341, "end_frame": 1467, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1467, "end_frame": 1628, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1628, "end_frame": 1754, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1754, "end_frame": 2027, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 678838, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 117, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 117, "end_frame": 350, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 350, "end_frame": 496, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 496, "end_frame": 630, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 630, "end_frame": 729, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 729, "end_frame": 928, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 928, "end_frame": 1151, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 1151, "end_frame": 1322, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1322, "end_frame": 1439, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1439, "end_frame": 1563, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1563, "end_frame": 1679, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1679, "end_frame": 1885, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 678861, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 108, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 108, "end_frame": 247, 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1696, "end_frame": 1885, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 678906, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 117, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 117, "end_frame": 320, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 320, "end_frame": 476, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 476, "end_frame": 597, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 597, "end_frame": 721, 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"Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 99, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 99, "end_frame": 316, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 316, "end_frame": 497, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 497, "end_frame": 589, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 589, "end_frame": 695, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 695, "end_frame": 919, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 919, "end_frame": 1107, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 1107, "end_frame": 1302, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1302, "end_frame": 1426, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1426, "end_frame": 1536, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1536, "end_frame": 1646, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1646, "end_frame": 1871, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 678947, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the 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1319, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1319, "end_frame": 1461, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1461, "end_frame": 1582, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1582, "end_frame": 1663, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1663, "end_frame": 1870, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 678966, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 120, "action_text": 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"key_frame": [] } }, { "episode_id": 679173, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 110, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 110, "end_frame": 257, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 257, "end_frame": 420, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 420, "end_frame": 520, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 520, "end_frame": 637, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 637, 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"key_frame": [] } }, { "episode_id": 679678, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 101, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 101, "end_frame": 312, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 312, "end_frame": 443, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 443, "end_frame": 576, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 576, "end_frame": 688, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 688, 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"action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 679981, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 99, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 99, "end_frame": 303, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 303, "end_frame": 436, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 436, "end_frame": 536, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 536, "end_frame": 623, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 623, "end_frame": 870, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 870, "end_frame": 1042, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 1042, "end_frame": 1248, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1248, "end_frame": 1396, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1396, "end_frame": 1553, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1553, "end_frame": 1627, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1627, "end_frame": 1754, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 679995, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 86, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 86, "end_frame": 328, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 328, "end_frame": 472, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 472, "end_frame": 583, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 583, "end_frame": 671, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 671, "end_frame": 879, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 879, "end_frame": 1027, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 1027, "end_frame": 1299, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1299, "end_frame": 1385, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1385, "end_frame": 1522, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1522, "end_frame": 1597, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1597, "end_frame": 1762, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 680006, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions 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1330, "end_frame": 1474, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1474, "end_frame": 1540, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1540, "end_frame": 1724, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 680037, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 92, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 92, "end_frame": 289, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 289, "end_frame": 435, 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"episode_id": 680081, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 5, "end_frame": 98, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 98, "end_frame": 237, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 237, "end_frame": 387, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 387, "end_frame": 490, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 490, "end_frame": 565, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 565, "end_frame": 738, 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"start_frame": 1438, "end_frame": 1552, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 680235, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 85, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 85, "end_frame": 237, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 237, "end_frame": 366, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 366, "end_frame": 441, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 441, 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"task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 73, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 73, "end_frame": 225, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 225, "end_frame": 387, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 387, "end_frame": 498, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 498, "end_frame": 601, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 601, "end_frame": 839, "action_text": "Pick up the plate on the 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"action_config": [ { "start_frame": 0, "end_frame": 94, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 94, "end_frame": 263, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 263, "end_frame": 432, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 432, "end_frame": 541, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 541, "end_frame": 641, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 641, "end_frame": 814, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 814, "end_frame": 1015, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 1015, "end_frame": 1187, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1187, "end_frame": 1306, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1306, "end_frame": 1430, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1430, "end_frame": 1524, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1524, "end_frame": 1691, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 680293, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 105, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 105, 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"start_frame": 1443, "end_frame": 1619, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 680325, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 81, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 81, "end_frame": 232, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 232, "end_frame": 395, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 395, "end_frame": 496, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 496, "end_frame": 590, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 590, "end_frame": 764, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 764, "end_frame": 963, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 963, "end_frame": 1124, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1124, "end_frame": 1239, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1239, "end_frame": 1354, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1354, "end_frame": 1447, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1447, "end_frame": 1622, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 680343, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 83, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 83, "end_frame": 241, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 241, "end_frame": 386, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 386, "end_frame": 489, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 489, "end_frame": 584, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 584, "end_frame": 727, "action_text": "Pick up the plate on the 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"end_frame": 1120, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1120, "end_frame": 1257, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1257, "end_frame": 1359, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1359, "end_frame": 1441, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1441, "end_frame": 1584, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 680371, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 101, 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tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 662621, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 134, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 134, "end_frame": 304, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 304, "end_frame": 438, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 438, "end_frame": 569, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 569, "end_frame": 691, "action_text": "Place the bowl on the plate on the counter.", "skill": 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"start_frame": 860, "end_frame": 984, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 984, "end_frame": 1143, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1143, "end_frame": 1320, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1320, "end_frame": 1465, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1465, "end_frame": 1558, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1558, "end_frame": 1919, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 686045, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe 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"Place" }, { "start_frame": 1300, "end_frame": 1447, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1447, "end_frame": 1525, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1525, "end_frame": 1718, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 686097, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 100, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 100, "end_frame": 275, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 275, "end_frame": 461, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 461, "end_frame": 563, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 563, "end_frame": 663, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 663, "end_frame": 858, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 858, "end_frame": 1014, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 1014, "end_frame": 1182, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1182, "end_frame": 1292, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1292, "end_frame": 1399, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1399, "end_frame": 1499, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1499, "end_frame": 1648, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 686116, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 103, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 103, "end_frame": 363, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 363, "end_frame": 536, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 536, "end_frame": 636, "action_text": "Pick 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"Pick" } ], "key_frame": [] } }, { "episode_id": 686130, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 14, "end_frame": 140, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 140, "end_frame": 378, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 378, "end_frame": 566, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 566, "end_frame": 676, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 676, "end_frame": 765, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { 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"key_frame": [] } }, { "episode_id": 686364, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 14, "end_frame": 93, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 93, "end_frame": 264, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 264, "end_frame": 378, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 378, "end_frame": 477, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 477, "end_frame": 551, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 551, 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"task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 203, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 203, "end_frame": 337, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 337, "end_frame": 503, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 503, "end_frame": 639, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 639, "end_frame": 836, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 836, "end_frame": 1016, "action_text": "Pick up the plate on the 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"end_frame": 1639, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1639, "end_frame": 1761, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1761, "end_frame": 2155, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 663186, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 162, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 162, "end_frame": 346, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 346, "end_frame": 487, 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into the plate on the table.", "skill": "Place" }, { "start_frame": 1796, "end_frame": 2162, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 663203, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 187, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 187, "end_frame": 370, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 370, "end_frame": 500, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 500, "end_frame": 649, "action_text": "Pick up the bowl on the 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"key_frame": [] } }, { "episode_id": 663217, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 228, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 228, "end_frame": 414, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 414, "end_frame": 564, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 564, "end_frame": 705, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 705, "end_frame": 883, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 883, 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"end_frame": 1477, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1477, "end_frame": 1630, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1630, "end_frame": 1753, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1753, "end_frame": 2170, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 663269, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 172, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 172, 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"start_frame": 1809, "end_frame": 2266, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 663320, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 157, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 157, "end_frame": 314, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 314, "end_frame": 480, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 480, "end_frame": 600, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 600, 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"task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 259, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 259, "end_frame": 574, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 574, "end_frame": 766, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 766, "end_frame": 921, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 921, "end_frame": 1109, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 1109, "end_frame": 1368, "action_text": "Pick up the plate on the 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"end_frame": 676, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 676, "end_frame": 841, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 841, "end_frame": 1022, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 1022, "end_frame": 1171, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 1171, "end_frame": 1332, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1332, "end_frame": 1481, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1481, "end_frame": 1678, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1678, "end_frame": 1811, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1811, "end_frame": 2052, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 663515, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 172, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 172, "end_frame": 421, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 421, "end_frame": 560, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 560, "end_frame": 760, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 760, "end_frame": 886, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 886, "end_frame": 1074, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 1074, "end_frame": 1205, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 1205, "end_frame": 1368, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1368, "end_frame": 1483, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1483, "end_frame": 1654, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1654, "end_frame": 1765, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1765, "end_frame": 2154, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 663554, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 218, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 218, "end_frame": 443, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 443, "end_frame": 571, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 571, "end_frame": 755, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 755, "end_frame": 870, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 870, "end_frame": 1096, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 1096, "end_frame": 1215, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 1215, "end_frame": 1392, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1392, "end_frame": 1601, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1601, "end_frame": 1749, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1749, "end_frame": 1860, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1860, "end_frame": 2165, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 663626, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial 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"Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1411, "end_frame": 1548, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1548, "end_frame": 1724, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1724, "end_frame": 1861, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1861, "end_frame": 2261, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 663659, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 176, "action_text": "Coordinate arms to place 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{ "start_frame": 1402, "end_frame": 1548, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1548, "end_frame": 1670, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1670, "end_frame": 2015, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 663693, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 150, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 150, "end_frame": 365, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 365, "end_frame": 547, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 547, "end_frame": 717, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 717, "end_frame": 871, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 871, "end_frame": 1046, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 1046, "end_frame": 1191, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 1191, "end_frame": 1325, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1325, "end_frame": 1459, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1459, "end_frame": 1649, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1649, "end_frame": 1816, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1816, "end_frame": 2137, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 663724, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 105, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 105, "end_frame": 305, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 305, "end_frame": 422, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 422, "end_frame": 578, "action_text": "Pick up the 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"key_frame": [] } }, { "episode_id": 663753, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 111, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 111, "end_frame": 319, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 319, "end_frame": 493, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 493, "end_frame": 662, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 662, "end_frame": 767, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 767, 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"start_frame": 1514, "end_frame": 1833, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 663826, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 139, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 139, "end_frame": 359, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 359, "end_frame": 484, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 484, "end_frame": 652, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 652, 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"task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 113, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 113, "end_frame": 318, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 318, "end_frame": 446, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 446, "end_frame": 577, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 577, "end_frame": 677, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 677, "end_frame": 842, "action_text": "Pick up the plate on the 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napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 115, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 115, "end_frame": 309, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 309, "end_frame": 418, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 418, "end_frame": 555, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 555, "end_frame": 641, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 641, "end_frame": 793, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 793, "end_frame": 889, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 889, "end_frame": 998, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 998, "end_frame": 1106, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1106, "end_frame": 1217, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1217, "end_frame": 1307, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1307, "end_frame": 1625, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 663892, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 125, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 125, "end_frame": 299, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 299, "end_frame": 419, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 419, "end_frame": 529, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 529, "end_frame": 643, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 643, "end_frame": 762, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 762, "end_frame": 880, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 880, "end_frame": 1022, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1022, "end_frame": 1149, "action_text": "Place the held cup onto the tray 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"Pick" }, { "start_frame": 310, "end_frame": 452, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 452, "end_frame": 537, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 537, "end_frame": 657, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 657, "end_frame": 820, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 820, "end_frame": 963, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 963, "end_frame": 1051, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1051, "end_frame": 1146, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1146, "end_frame": 1293, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1293, "end_frame": 1442, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1442, "end_frame": 1691, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 663929, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 134, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 134, "end_frame": 291, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 291, "end_frame": 415, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 415, "end_frame": 538, 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tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 663945, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 13, "end_frame": 169, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 169, "end_frame": 313, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 313, "end_frame": 414, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 414, "end_frame": 547, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 547, "end_frame": 651, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 651, "end_frame": 799, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 799, "end_frame": 928, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 928, "end_frame": 1059, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1059, "end_frame": 1152, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1152, "end_frame": 1287, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1287, "end_frame": 1401, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1401, "end_frame": 1672, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 663989, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The 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"skill": "Place" }, { "start_frame": 1428, "end_frame": 1748, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 664065, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 126, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 126, "end_frame": 272, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 272, "end_frame": 388, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 388, "end_frame": 484, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { 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"task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 150, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 150, "end_frame": 310, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 310, "end_frame": 406, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 406, "end_frame": 546, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 546, "end_frame": 645, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 645, "end_frame": 839, "action_text": "Pick up the 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1428, "end_frame": 1556, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1556, "end_frame": 1817, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 664451, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 161, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 161, "end_frame": 337, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 337, "end_frame": 502, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 502, 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"Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 115, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 115, "end_frame": 297, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 297, "end_frame": 391, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 391, "end_frame": 521, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 521, "end_frame": 635, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 635, "end_frame": 823, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 823, "end_frame": 944, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 944, "end_frame": 1072, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1072, "end_frame": 1207, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1207, "end_frame": 1364, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1364, "end_frame": 1469, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1469, "end_frame": 1731, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 664537, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table 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664595, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 148, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 148, "end_frame": 374, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 374, "end_frame": 529, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 529, "end_frame": 659, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 659, "end_frame": 763, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 763, "end_frame": 921, "action_text": 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1471, "end_frame": 1791, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 664697, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 135, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 135, "end_frame": 357, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 357, "end_frame": 476, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 476, "end_frame": 616, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 616, "end_frame": 706, 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"Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 148, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 148, "end_frame": 319, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 319, "end_frame": 445, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 445, "end_frame": 560, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 560, "end_frame": 639, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 639, "end_frame": 799, "action_text": "Pick up the plate on the table.", 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"skill": "Place" }, { "start_frame": 1543, "end_frame": 1812, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 664912, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 137, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 137, "end_frame": 302, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 302, "end_frame": 430, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 430, "end_frame": 560, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { 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664927, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 141, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 141, "end_frame": 307, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 307, "end_frame": 433, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 433, "end_frame": 555, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 555, "end_frame": 658, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 658, "end_frame": 802, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 802, "end_frame": 901, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 901, "end_frame": 1043, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1043, "end_frame": 1170, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1170, "end_frame": 1335, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1335, "end_frame": 1462, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1462, "end_frame": 1718, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 664945, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 153, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 153, "end_frame": 338, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 338, "end_frame": 472, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 472, "end_frame": 572, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 572, "end_frame": 694, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 694, "end_frame": 839, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 839, "end_frame": 974, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 974, "end_frame": 1130, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1130, "end_frame": 1244, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1244, "end_frame": 1416, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1416, "end_frame": 1515, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1515, "end_frame": 1815, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 664989, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 128, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 128, "end_frame": 286, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 286, "end_frame": 428, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 428, "end_frame": 536, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 536, "end_frame": 655, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 655, "end_frame": 768, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 768, "end_frame": 887, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 887, "end_frame": 1052, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1052, "end_frame": 1220, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1220, "end_frame": 1348, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1348, "end_frame": 1471, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1471, "end_frame": 1769, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 665019, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 184, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 184, "end_frame": 355, 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1519, "end_frame": 1751, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 665072, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 153, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 153, "end_frame": 361, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 361, "end_frame": 489, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 489, "end_frame": 620, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 620, "end_frame": 731, 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table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 155, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 155, "end_frame": 324, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 324, "end_frame": 450, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 450, "end_frame": 559, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 559, "end_frame": 651, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { "start_frame": 651, "end_frame": 771, "action_text": "Pick up the plate on the table.", "skill": "Pick" }, { "start_frame": 771, "end_frame": 896, "action_text": "Stack the held plate onto the bowl in the dining tray.", "skill": "Stack" }, { "start_frame": 896, "end_frame": 1027, "action_text": "Pick up the cup on the table.", "skill": "Pick" }, { "start_frame": 1027, "end_frame": 1151, "action_text": "Place the held cup onto the tray on the counter.", "skill": "Place" }, { "start_frame": 1151, "end_frame": 1309, "action_text": "Pick up the napkin on the table.", "skill": "Pick" }, { "start_frame": 1309, "end_frame": 1410, "action_text": "Place the held napkin into the plate on the table.", "skill": "Place" }, { "start_frame": 1410, "end_frame": 1725, "action_text": "Coordinate arms to lift the tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 665121, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the 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tray.", "skill": "Pick" } ], "key_frame": [] } }, { "episode_id": 665240, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 181, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 181, "end_frame": 367, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 367, "end_frame": 506, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 506, "end_frame": 630, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 630, "end_frame": 740, "action_text": "Place the bowl on the plate on the counter.", "skill": 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"Pick" } ], "key_frame": [] } }, { "episode_id": 665481, "task_id": 378, "task_name": "Clear table in the restaurant", "init_scene_text": "Initial position: The robot's arms are holding empty plates, with forks placed in the bowls, and dishes, cups, and napkins are on the table.\nThe initial positions of items on the table are changed every 20 entries.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 163, "action_text": "Coordinate arms to place the tray on the counter.", "skill": "Place" }, { "start_frame": 163, "end_frame": 337, "action_text": "Pick up the fork on the table.", "skill": "Pick" }, { "start_frame": 337, "end_frame": 469, "action_text": "Place the held fork onto the dining plate on the table.", "skill": "Place" }, { "start_frame": 469, "end_frame": 577, "action_text": "Pick up the bowl on the table.", "skill": "Pick" }, { "start_frame": 577, "end_frame": 660, "action_text": "Place the bowl on the plate on the counter.", "skill": "Place" }, { 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