[ { "episode_id": 647024, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 331, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 331, "end_frame": 447, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 447, "end_frame": 778, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 778, "end_frame": 997, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 997, "end_frame": 1118, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1118, "end_frame": 1646, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1646, "end_frame": 2308, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2308, "end_frame": 2567, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2567, "end_frame": 2857, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2857, "end_frame": 3108, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 3108, "end_frame": 3283, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3283, "end_frame": 3506, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3506, "end_frame": 3797, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 3797, "end_frame": 3949, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3949, "end_frame": 4369, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 647106, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 333, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 333, "end_frame": 451, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 451, "end_frame": 725, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 725, "end_frame": 986, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 986, "end_frame": 1093, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1093, "end_frame": 1632, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1632, "end_frame": 2194, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2194, "end_frame": 2498, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2498, "end_frame": 2853, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2853, "end_frame": 3081, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 3081, "end_frame": 3229, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3229, "end_frame": 3340, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3340, "end_frame": 3636, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 3636, "end_frame": 3804, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3804, "end_frame": 4348, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 647137, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 334, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 334, "end_frame": 483, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 483, "end_frame": 793, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 793, "end_frame": 985, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 985, "end_frame": 1064, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1064, "end_frame": 1619, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1619, "end_frame": 2170, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2170, "end_frame": 2417, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2417, "end_frame": 2728, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2728, "end_frame": 2927, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2927, "end_frame": 3264, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3264, "end_frame": 3384, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3384, "end_frame": 3659, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 3659, "end_frame": 3814, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3814, "end_frame": 4377, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 647171, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 336, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 336, "end_frame": 522, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 522, "end_frame": 732, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 732, "end_frame": 933, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 933, "end_frame": 1013, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1013, "end_frame": 1589, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1589, "end_frame": 2320, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2320, "end_frame": 2561, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2561, "end_frame": 2793, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2793, "end_frame": 3034, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 3034, "end_frame": 3226, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3226, "end_frame": 3342, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3342, "end_frame": 3780, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 3780, "end_frame": 4012, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 4012, "end_frame": 4404, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 647208, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 322, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 322, "end_frame": 496, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 496, "end_frame": 764, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 764, "end_frame": 919, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 919, "end_frame": 1065, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1065, "end_frame": 1556, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1556, "end_frame": 2180, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2180, "end_frame": 2501, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2501, "end_frame": 2735, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2735, "end_frame": 2980, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2980, "end_frame": 3245, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3245, "end_frame": 3377, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3377, "end_frame": 3672, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 3672, "end_frame": 3818, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3818, "end_frame": 4190, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 647271, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 334, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 334, "end_frame": 444, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 444, "end_frame": 681, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 681, "end_frame": 980, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 980, "end_frame": 1055, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1055, "end_frame": 1494, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1494, "end_frame": 2114, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2114, "end_frame": 2409, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2409, "end_frame": 2721, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2721, "end_frame": 3061, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 3061, "end_frame": 3226, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3226, "end_frame": 3358, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3358, "end_frame": 3692, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 3692, "end_frame": 3876, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3876, "end_frame": 4285, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 647312, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 359, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 359, "end_frame": 501, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 501, "end_frame": 784, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 784, "end_frame": 918, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 918, "end_frame": 1005, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1005, "end_frame": 1539, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1539, "end_frame": 2107, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2107, "end_frame": 2382, "action_text": "Place the cup 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onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 647361, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 383, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 383, "end_frame": 494, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 494, "end_frame": 809, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 809, "end_frame": 979, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 979, "end_frame": 1081, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1081, "end_frame": 1545, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1545, "end_frame": 2043, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2043, "end_frame": 2354, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2354, "end_frame": 2660, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2660, "end_frame": 2929, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2929, "end_frame": 3112, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3112, "end_frame": 3231, "action_text": "Turn 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"action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 475, "end_frame": 776, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 776, "end_frame": 964, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 964, "end_frame": 1121, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1121, "end_frame": 1623, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1623, "end_frame": 2139, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2139, "end_frame": 2363, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2363, "end_frame": 2771, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2771, "end_frame": 3058, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 3058, "end_frame": 3282, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3282, "end_frame": 3372, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3372, "end_frame": 3663, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 3663, "end_frame": 3825, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3825, "end_frame": 4430, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 647484, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 389, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 389, "end_frame": 527, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 527, "end_frame": 863, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 863, "end_frame": 1121, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1121, "end_frame": 1255, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1255, "end_frame": 1865, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1865, "end_frame": 2810, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2810, "end_frame": 3068, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 3068, "end_frame": 3435, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3435, "end_frame": 3786, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 3786, "end_frame": 3982, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3982, "end_frame": 4173, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 4173, "end_frame": 4457, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 4457, "end_frame": 4659, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 4659, "end_frame": 5077, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 647532, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 385, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 385, "end_frame": 560, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 560, "end_frame": 776, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 776, "end_frame": 1010, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1010, "end_frame": 1147, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1147, "end_frame": 1661, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1661, "end_frame": 2400, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2400, "end_frame": 2666, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2666, "end_frame": 2978, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2978, "end_frame": 3245, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 3245, "end_frame": 3447, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3447, "end_frame": 3630, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3630, "end_frame": 3956, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 3956, "end_frame": 4153, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 4153, "end_frame": 4470, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 647590, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of 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"action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2406, "end_frame": 2717, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2717, "end_frame": 3042, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3042, "end_frame": 3227, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 3227, "end_frame": 3394, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3394, "end_frame": 3570, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3570, "end_frame": 3841, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 3841, "end_frame": 4039, "action_text": 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"Hold" }, { "start_frame": 749, "end_frame": 1066, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1066, "end_frame": 1172, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1172, "end_frame": 1663, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1663, "end_frame": 2596, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2596, "end_frame": 2863, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2863, "end_frame": 3253, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3253, "end_frame": 3428, "action_text": "Place the gray water bottle held in the left arm under the faucet.", 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"end_frame": 4364, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 647778, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 383, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 383, "end_frame": 519, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 519, "end_frame": 685, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 685, "end_frame": 974, "action_text": "Turn on the faucet with the right arm.", 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"key_frame": [] } }, { "episode_id": 647874, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 374, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 374, "end_frame": 500, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 500, "end_frame": 748, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 748, "end_frame": 981, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 981, "end_frame": 1117, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" 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"Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 3274, "end_frame": 3477, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3477, "end_frame": 3608, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3608, "end_frame": 3861, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 3861, "end_frame": 4001, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 4001, "end_frame": 4489, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 648089, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the 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"task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 331, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 331, "end_frame": 458, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 458, "end_frame": 735, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 735, "end_frame": 912, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 912, "end_frame": 1030, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1030, "end_frame": 1565, 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arm under the faucet.", "skill": "Hold" }, { "start_frame": 826, "end_frame": 1062, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1062, "end_frame": 1153, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1153, "end_frame": 1652, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1652, "end_frame": 2310, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2310, "end_frame": 2551, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2551, "end_frame": 2873, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2873, "end_frame": 3132, "action_text": "Place the gray water bottle held in 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a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 379, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 379, "end_frame": 542, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 542, "end_frame": 810, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 810, "end_frame": 1078, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1078, "end_frame": 1256, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1256, "end_frame": 1610, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1610, "end_frame": 2344, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2344, "end_frame": 2588, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2588, "end_frame": 2995, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2995, "end_frame": 3240, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 3240, "end_frame": 3561, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3561, "end_frame": 3762, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3762, "end_frame": 4021, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 4021, "end_frame": 4246, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 4246, "end_frame": 4735, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 648812, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 365, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 365, "end_frame": 532, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 532, "end_frame": 786, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 786, "end_frame": 1006, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1006, "end_frame": 1217, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1217, "end_frame": 1696, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1696, "end_frame": 2210, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2210, "end_frame": 2544, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2544, "end_frame": 2856, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2856, "end_frame": 3061, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 3061, "end_frame": 3238, "action_text": "Turn on the 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onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 652853, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 393, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 393, "end_frame": 545, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 545, "end_frame": 771, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 771, "end_frame": 1119, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1119, "end_frame": 1213, "action_text": "Turn off the 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arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 4084, "end_frame": 4299, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 4299, "end_frame": 4654, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 653153, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 343, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 343, "end_frame": 442, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 442, "end_frame": 706, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 706, "end_frame": 1025, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1025, "end_frame": 1126, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1126, "end_frame": 1581, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1581, "end_frame": 2324, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2324, "end_frame": 2529, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2529, "end_frame": 2766, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2766, "end_frame": 3030, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 3030, "end_frame": 3254, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3254, "end_frame": 3477, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3477, "end_frame": 3878, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 3878, "end_frame": 4069, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 4069, "end_frame": 4530, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 653175, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 307, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 307, "end_frame": 457, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 457, "end_frame": 661, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 661, "end_frame": 927, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 927, "end_frame": 1078, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1078, "end_frame": 1425, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1425, "end_frame": 2123, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2123, "end_frame": 2302, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2302, "end_frame": 2527, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2527, "end_frame": 2776, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2776, "end_frame": 3041, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3041, "end_frame": 3151, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3151, "end_frame": 3461, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 3461, "end_frame": 3629, "action_text": "Empty the water 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"start_frame": 820, "end_frame": 1033, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1033, "end_frame": 1201, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1201, "end_frame": 1681, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1681, "end_frame": 2384, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2384, "end_frame": 2583, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2583, "end_frame": 2855, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2855, "end_frame": 3082, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 3082, "end_frame": 3444, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3444, "end_frame": 3653, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3653, "end_frame": 3956, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 3956, "end_frame": 4060, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 4060, "end_frame": 4427, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 653252, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 358, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 358, "end_frame": 484, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 484, "end_frame": 809, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 809, "end_frame": 1028, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1028, "end_frame": 1191, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1191, "end_frame": 1630, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1630, "end_frame": 2386, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, 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"action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 653284, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 284, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 284, "end_frame": 410, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 410, "end_frame": 712, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 712, "end_frame": 997, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { 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[] } }, { "episode_id": 653368, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 332, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 332, "end_frame": 424, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 424, "end_frame": 698, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 698, "end_frame": 897, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 897, "end_frame": 976, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { 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"end_frame": 2869, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2869, "end_frame": 3162, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3162, "end_frame": 3445, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 3445, "end_frame": 3747, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3747, "end_frame": 3920, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3920, "end_frame": 4256, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 4256, "end_frame": 4409, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 4409, "end_frame": 4740, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 653947, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 330, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 330, "end_frame": 421, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 421, "end_frame": 691, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 691, "end_frame": 957, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 957, "end_frame": 1149, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1149, "end_frame": 1570, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1570, "end_frame": 2436, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2436, "end_frame": 2646, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2646, "end_frame": 2816, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2816, "end_frame": 3022, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 3022, "end_frame": 3443, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3443, "end_frame": 3672, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3672, "end_frame": 4002, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 4002, "end_frame": 4139, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 4139, "end_frame": 4537, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 654040, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 277, "action_text": "Lift the object on the table with the left 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arm.", "skill": "Place" }, { "start_frame": 2252, "end_frame": 2459, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2459, "end_frame": 2728, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2728, "end_frame": 2993, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2993, "end_frame": 3200, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3200, "end_frame": 3527, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 3527, "end_frame": 3659, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3659, "end_frame": 4003, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 654069, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 291, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 291, "end_frame": 386, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 386, "end_frame": 691, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 691, "end_frame": 1013, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1013, "end_frame": 1132, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1132, "end_frame": 1454, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1454, "end_frame": 2286, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2286, "end_frame": 2490, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2490, "end_frame": 2808, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2808, "end_frame": 3008, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 3008, "end_frame": 3240, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3240, "end_frame": 3499, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3499, "end_frame": 3963, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 3963, "end_frame": 4067, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 4067, "end_frame": 4431, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 654106, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 314, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 314, "end_frame": 439, "action_text": "Empty the water from the gray water 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water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2820, "end_frame": 3058, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 3058, "end_frame": 3417, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3417, "end_frame": 3547, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3547, "end_frame": 3901, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 3901, "end_frame": 4022, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 4022, "end_frame": 4399, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 654131, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 322, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 322, "end_frame": 424, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 424, "end_frame": 603, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 603, "end_frame": 857, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 857, "end_frame": 1018, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1018, "end_frame": 1437, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1437, "end_frame": 2192, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2192, "end_frame": 2496, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2496, "end_frame": 2818, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2818, "end_frame": 3090, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 3090, "end_frame": 3325, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3325, "end_frame": 3514, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3514, "end_frame": 3914, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 3914, "end_frame": 4098, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 4098, "end_frame": 4494, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 654149, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 337, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 337, "end_frame": 439, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 439, "end_frame": 731, "action_text": "Place the gray water 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brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 336, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 336, "end_frame": 501, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 501, "end_frame": 805, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 805, "end_frame": 988, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 988, "end_frame": 1135, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1135, "end_frame": 1542, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1542, "end_frame": 2231, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2231, "end_frame": 2427, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2427, "end_frame": 2856, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2856, "end_frame": 3084, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 3084, "end_frame": 3299, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3299, "end_frame": 3473, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3473, "end_frame": 3929, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 3929, "end_frame": 4050, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 4050, "end_frame": 4426, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 654252, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 352, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 352, "end_frame": 487, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 487, "end_frame": 730, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 730, "end_frame": 1029, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1029, "end_frame": 1207, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1207, "end_frame": 1656, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1656, "end_frame": 2405, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2405, "end_frame": 2596, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2596, "end_frame": 2938, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2938, "end_frame": 3204, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 3204, "end_frame": 3410, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3410, "end_frame": 3630, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3630, "end_frame": 4009, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 4009, "end_frame": 4145, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 4145, "end_frame": 4622, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 654282, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 362, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 362, "end_frame": 495, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 495, "end_frame": 726, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 726, "end_frame": 947, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 947, "end_frame": 1159, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1159, "end_frame": 1567, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1567, "end_frame": 2351, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2351, "end_frame": 2548, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2548, "end_frame": 3005, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3005, "end_frame": 3313, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 3313, "end_frame": 3510, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3510, "end_frame": 3745, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3745, "end_frame": 4207, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 4207, "end_frame": 4404, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 4404, "end_frame": 4755, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 654353, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 423, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 423, "end_frame": 573, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 573, "end_frame": 981, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 981, "end_frame": 1265, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1265, "end_frame": 1384, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1384, "end_frame": 1862, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1862, "end_frame": 2649, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2649, "end_frame": 2878, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2878, "end_frame": 3346, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3346, "end_frame": 3670, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 3670, "end_frame": 3919, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3919, "end_frame": 4023, 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"task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 366, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 366, "end_frame": 505, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 505, "end_frame": 868, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 868, "end_frame": 1166, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1166, "end_frame": 1356, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1356, "end_frame": 1874, "action_text": 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"start_frame": 4494, "end_frame": 5173, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 659701, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 420, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 420, "end_frame": 647, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 647, "end_frame": 916, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 916, "end_frame": 1166, "action_text": "Turn on the faucet with 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bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 659765, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 384, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 384, "end_frame": 609, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 609, "end_frame": 900, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 900, "end_frame": 1214, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1214, "end_frame": 1284, 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660595, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 307, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 307, "end_frame": 442, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 442, "end_frame": 729, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 729, "end_frame": 918, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 918, "end_frame": 1063, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1063, 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"Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 651222, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 41, "end_frame": 155, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 155, "end_frame": 306, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 306, "end_frame": 416, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 416, "end_frame": 554, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 554, "end_frame": 636, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 636, "end_frame": 852, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 852, "end_frame": 1320, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1320, "end_frame": 1569, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1569, "end_frame": 1773, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 1773, "end_frame": 1907, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1907, "end_frame": 2074, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { 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"start_frame": 2287, "end_frame": 2610, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 2610, "end_frame": 2795, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2795, "end_frame": 3057, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 651305, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 72, "end_frame": 202, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 202, "end_frame": 422, "action_text": "Empty the water from the gray water 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is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 36, "end_frame": 220, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 220, "end_frame": 404, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 404, "end_frame": 556, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 556, "end_frame": 848, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 848, "end_frame": 1000, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1000, "end_frame": 1247, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", 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"start_frame": 2996, "end_frame": 3198, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3198, "end_frame": 3485, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 651356, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 30, "end_frame": 198, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 198, "end_frame": 357, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 357, "end_frame": 486, "action_text": "Place the gray water 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"skill": "Pour" }, { "start_frame": 3230, "end_frame": 3470, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 651409, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 33, "end_frame": 155, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 155, "end_frame": 334, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 334, "end_frame": 444, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 444, "end_frame": 574, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 574, "end_frame": 700, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 700, "end_frame": 932, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 932, "end_frame": 1352, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1352, "end_frame": 1580, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1580, "end_frame": 1726, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 1726, "end_frame": 1779, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1779, "end_frame": 1910, 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"Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1669, "end_frame": 1873, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 1873, "end_frame": 1959, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1959, "end_frame": 2110, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2110, "end_frame": 2347, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2347, "end_frame": 2592, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 2592, "end_frame": 2784, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2784, "end_frame": 3082, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 651530, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 58, "end_frame": 148, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 148, "end_frame": 331, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 331, "end_frame": 519, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 519, "end_frame": 672, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 672, "end_frame": 855, "action_text": "Turn 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"Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2624, "end_frame": 2901, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 2901, "end_frame": 3161, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3161, "end_frame": 3438, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 651557, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 25, "end_frame": 147, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 147, 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"Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 25, "end_frame": 146, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 146, "end_frame": 324, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 324, "end_frame": 408, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 408, "end_frame": 541, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 541, "end_frame": 670, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 670, "end_frame": 907, "action_text": "Grab the cup 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"Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 652532, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 71, "end_frame": 198, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 198, "end_frame": 370, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 370, "end_frame": 481, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 481, "end_frame": 648, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 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"end_frame": 3728, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 674884, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 57, "end_frame": 367, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 367, "end_frame": 615, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 615, "end_frame": 790, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 790, "end_frame": 1110, "action_text": "Turn on the faucet with the right arm.", 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], "key_frame": [] } }, { "episode_id": 674977, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 20, "end_frame": 301, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 301, "end_frame": 496, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 496, "end_frame": 655, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 655, "end_frame": 967, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 967, "end_frame": 1100, "action_text": "Turn off the faucet with the right arm.", "skill": 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"end_frame": 1539, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1539, "end_frame": 2011, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2011, "end_frame": 2147, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2147, "end_frame": 2350, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2350, "end_frame": 2500, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2500, "end_frame": 2663, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2663, "end_frame": 2747, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { 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"action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2897, "end_frame": 3144, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 3144, "end_frame": 3419, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3419, "end_frame": 3781, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 676558, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 40, "end_frame": 381, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 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"task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 43, "end_frame": 388, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 388, "end_frame": 596, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 596, "end_frame": 764, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 764, "end_frame": 1014, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1014, "end_frame": 1131, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1131, "end_frame": 1433, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1433, "end_frame": 1951, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1951, "end_frame": 2119, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2119, "end_frame": 2296, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2296, "end_frame": 2473, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2473, "end_frame": 2620, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2620, "end_frame": 2805, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2805, 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"start_frame": 3464, "end_frame": 3776, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 676964, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 32, "end_frame": 376, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 376, "end_frame": 552, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 552, "end_frame": 686, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 686, "end_frame": 928, "action_text": "Turn on the faucet with 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620, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 620, "end_frame": 752, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 752, "end_frame": 949, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 949, "end_frame": 1062, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1062, "end_frame": 1367, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1367, "end_frame": 2001, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2001, "end_frame": 2217, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2217, "end_frame": 2443, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2443, "end_frame": 2541, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2541, "end_frame": 2682, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2682, "end_frame": 2819, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2819, "end_frame": 3063, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 3063, "end_frame": 3274, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3274, "end_frame": 3678, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677277, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 43, "end_frame": 379, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 379, "end_frame": 575, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 575, "end_frame": 724, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 724, "end_frame": 935, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 935, "end_frame": 1098, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1098, "end_frame": 1419, "action_text": "Grab the cup 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the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 3240, "end_frame": 3436, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3436, "end_frame": 3772, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677328, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 39, "end_frame": 390, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 390, "end_frame": 588, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 588, "end_frame": 716, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 716, "end_frame": 1012, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1012, "end_frame": 1126, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1126, "end_frame": 1412, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1412, "end_frame": 1926, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1926, "end_frame": 2138, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2138, "end_frame": 2467, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2467, "end_frame": 2612, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2612, "end_frame": 2790, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2790, "end_frame": 2913, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2913, "end_frame": 3219, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 3219, "end_frame": 3387, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3387, "end_frame": 3831, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677445, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 32, "end_frame": 355, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 355, "end_frame": 519, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 519, "end_frame": 636, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 636, "end_frame": 874, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 874, "end_frame": 1019, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1019, "end_frame": 1370, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1370, "end_frame": 1929, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1929, "end_frame": 2157, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2157, "end_frame": 2366, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2366, "end_frame": 2471, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2471, "end_frame": 2635, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2635, "end_frame": 2762, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2762, "end_frame": 3053, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 3053, "end_frame": 3245, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3245, "end_frame": 3577, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677466, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 33, "end_frame": 453, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 453, "end_frame": 627, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 627, "end_frame": 768, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 768, "end_frame": 966, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 966, "end_frame": 1098, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1098, "end_frame": 1391, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1391, "end_frame": 2036, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2036, "end_frame": 2272, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2272, "end_frame": 2442, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2442, "end_frame": 2574, "action_text": "Place the gray water bottle held in the left arm under the faucet.", 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"end_frame": 3704, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680990, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 51, "end_frame": 346, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 346, "end_frame": 538, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 538, "end_frame": 701, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 701, "end_frame": 931, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 931, "end_frame": 1071, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1071, "end_frame": 1409, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1409, "end_frame": 1974, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1974, "end_frame": 2156, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2156, "end_frame": 2380, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2380, "end_frame": 2488, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2488, "end_frame": 2661, "action_text": "Turn on the faucet with the right 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"key_frame": [] } }, { "episode_id": 681083, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 47, "end_frame": 377, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 377, "end_frame": 575, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 575, "end_frame": 725, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 725, "end_frame": 989, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 989, "end_frame": 1107, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1107, "end_frame": 1422, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1422, "end_frame": 2025, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2025, "end_frame": 2219, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2219, "end_frame": 2430, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2430, "end_frame": 2591, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2591, "end_frame": 2774, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2774, "end_frame": 2897, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2897, "end_frame": 3208, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 3208, "end_frame": 3363, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3363, "end_frame": 3646, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681108, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 47, "end_frame": 353, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 353, "end_frame": 538, "action_text": "Empty the water from the 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the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2250, "end_frame": 2362, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2362, "end_frame": 2521, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2521, "end_frame": 2616, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2616, "end_frame": 2895, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 2895, "end_frame": 3068, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3068, "end_frame": 3356, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681135, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 54, "end_frame": 337, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 337, "end_frame": 516, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 516, "end_frame": 620, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 620, "end_frame": 870, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 870, "end_frame": 1016, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1016, "end_frame": 1332, "action_text": "Grab the cup brush from the storage box on the counter with 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"skill": "Shake" }, { "start_frame": 2826, "end_frame": 3005, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3005, "end_frame": 3243, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681156, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 46, "end_frame": 437, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 437, "end_frame": 699, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 699, "end_frame": 878, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 878, "end_frame": 1080, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1080, "end_frame": 1181, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1181, "end_frame": 1476, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1476, "end_frame": 2156, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2156, "end_frame": 2395, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2395, "end_frame": 2583, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2583, "end_frame": 2648, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2648, "end_frame": 2790, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2790, "end_frame": 2910, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2910, "end_frame": 3153, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 3153, "end_frame": 3356, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3356, "end_frame": 3599, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681183, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on 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"end_frame": 1023, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1023, "end_frame": 1113, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1113, "end_frame": 1436, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1436, "end_frame": 2024, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2024, "end_frame": 2239, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2239, "end_frame": 2423, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2423, "end_frame": 2517, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { 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"Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681290, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 18, "end_frame": 367, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 367, "end_frame": 554, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 554, "end_frame": 727, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 727, "end_frame": 1022, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1022, "end_frame": 1166, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1166, "end_frame": 1382, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1382, "end_frame": 1839, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1839, "end_frame": 2005, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2005, "end_frame": 2170, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2170, "end_frame": 2318, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2318, "end_frame": 2530, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2530, "end_frame": 2620, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2620, "end_frame": 2825, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 2825, "end_frame": 2966, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2966, "end_frame": 3243, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681357, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 50, "end_frame": 374, "action_text": "Lift the object on the table with the left 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"episode_id": 681379, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 26, "end_frame": 402, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 402, "end_frame": 578, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 578, "end_frame": 773, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 773, "end_frame": 1025, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1025, "end_frame": 1156, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 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"action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 2933, "end_frame": 3199, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3199, "end_frame": 3426, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681886, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 46, "end_frame": 326, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 326, "end_frame": 624, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 624, "end_frame": 711, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 711, "end_frame": 967, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 967, "end_frame": 1046, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1046, "end_frame": 1331, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1331, "end_frame": 1883, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1883, "end_frame": 2042, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2042, "end_frame": 2273, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2273, "end_frame": 2373, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2373, "end_frame": 2473, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2473, "end_frame": 2574, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2574, "end_frame": 2846, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 2846, "end_frame": 3034, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3034, "end_frame": 3260, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681911, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water 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3058, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3058, "end_frame": 3295, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681942, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 62, "end_frame": 342, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 342, "end_frame": 516, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 516, "end_frame": 676, "action_text": "Place the gray water bottle held in the left arm under the 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"end_frame": 3911, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682036, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 42, "end_frame": 370, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 370, "end_frame": 685, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 685, "end_frame": 807, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 807, "end_frame": 1027, "action_text": "Turn on the faucet with the right arm.", 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"key_frame": [] } }, { "episode_id": 682093, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 60, "end_frame": 343, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 343, "end_frame": 589, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 589, "end_frame": 686, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 686, "end_frame": 894, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 894, "end_frame": 1084, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1084, "end_frame": 1353, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1353, "end_frame": 2053, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2053, "end_frame": 2224, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2224, "end_frame": 2447, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2447, "end_frame": 2549, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2549, "end_frame": 2725, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2725, "end_frame": 2813, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2813, "end_frame": 3123, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 3123, "end_frame": 3346, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3346, "end_frame": 3624, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682146, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 43, "end_frame": 369, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 369, "end_frame": 638, "action_text": "Empty the water from the 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position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 31, "end_frame": 341, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 341, "end_frame": 574, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 574, "end_frame": 713, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 713, "end_frame": 874, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 874, "end_frame": 973, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 973, "end_frame": 1282, "action_text": "Grab the cup brush from the storage box on the counter with the 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"Shake" }, { "start_frame": 2998, "end_frame": 3263, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3263, "end_frame": 3505, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682229, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 50, "end_frame": 411, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 411, "end_frame": 718, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 718, "end_frame": 817, "action_text": "Place the 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cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 30, "end_frame": 316, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 316, "end_frame": 589, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 589, "end_frame": 683, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 683, "end_frame": 982, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 982, "end_frame": 1097, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1097, "end_frame": 1378, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1378, "end_frame": 1878, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1878, "end_frame": 2040, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2040, "end_frame": 2262, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2262, "end_frame": 2343, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2343, "end_frame": 2505, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2505, "end_frame": 2595, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2595, "end_frame": 2923, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 2923, "end_frame": 3119, "action_text": "Empty the water from the gray water bottle held in the left 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"action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 973, "end_frame": 1078, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1078, "end_frame": 1346, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1346, "end_frame": 1942, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1942, "end_frame": 2129, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2129, "end_frame": 2379, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2379, "end_frame": 2492, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2492, "end_frame": 2661, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2661, "end_frame": 2738, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2738, "end_frame": 3029, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 3029, "end_frame": 3284, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3284, "end_frame": 3552, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682316, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 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"action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2324, "end_frame": 2581, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2581, "end_frame": 2695, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2695, "end_frame": 2895, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2895, "end_frame": 2985, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2985, "end_frame": 3243, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 3243, "end_frame": 3495, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3495, "end_frame": 3817, "action_text": "Place the gray water 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"action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1068, "end_frame": 1344, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1344, "end_frame": 1860, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1860, "end_frame": 2054, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2054, "end_frame": 2301, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2301, "end_frame": 2396, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2396, "end_frame": 2525, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2525, "end_frame": 2613, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2613, "end_frame": 2904, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 2904, "end_frame": 3147, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3147, "end_frame": 3433, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682370, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 43, "end_frame": 346, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" 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682404, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 56, "end_frame": 273, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 273, "end_frame": 504, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 504, "end_frame": 671, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 671, "end_frame": 897, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 897, "end_frame": 991, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 991, "end_frame": 1294, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1294, "end_frame": 1807, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1807, "end_frame": 1990, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1990, "end_frame": 2238, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2238, "end_frame": 2328, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2328, "end_frame": 2482, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2482, "end_frame": 2580, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2580, "end_frame": 2866, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 2866, "end_frame": 3075, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3075, "end_frame": 3323, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682442, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 42, "end_frame": 270, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 270, "end_frame": 519, "action_text": "Empty the water from the gray water bottle held in the left 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"start_frame": 1484, "end_frame": 2034, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2034, "end_frame": 2223, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2223, "end_frame": 2477, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2477, "end_frame": 2560, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2560, "end_frame": 2713, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2713, "end_frame": 2828, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2828, "end_frame": 3106, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 3106, "end_frame": 3351, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3351, "end_frame": 3600, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682508, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 41, "end_frame": 386, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 386, "end_frame": 639, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 639, "end_frame": 809, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 809, "end_frame": 1098, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1098, "end_frame": 1253, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1253, "end_frame": 1529, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1529, "end_frame": 2196, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2196, "end_frame": 2355, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2355, "end_frame": 2554, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2554, "end_frame": 2672, "action_text": "Place the gray water bottle held in 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a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 45, "end_frame": 400, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 400, "end_frame": 596, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 596, "end_frame": 739, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 739, "end_frame": 1018, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1018, "end_frame": 1169, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1169, "end_frame": 1410, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1410, "end_frame": 2024, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2024, "end_frame": 2160, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2160, "end_frame": 2333, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2333, "end_frame": 2510, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2510, "end_frame": 2661, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2661, "end_frame": 2755, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2755, "end_frame": 3012, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 3012, "end_frame": 3185, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3185, "end_frame": 3464, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682585, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 23, "end_frame": 364, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 364, "end_frame": 567, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 567, "end_frame": 717, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 717, "end_frame": 962, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 962, "end_frame": 1074, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1074, "end_frame": 1319, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1319, "end_frame": 1955, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1955, "end_frame": 2128, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2128, "end_frame": 2331, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2331, "end_frame": 2454, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2454, "end_frame": 2615, "action_text": "Turn on the 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onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682663, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 34, "end_frame": 305, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 305, "end_frame": 496, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 496, "end_frame": 654, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 654, "end_frame": 899, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 899, "end_frame": 1045, "action_text": "Turn off the 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"Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 31, "end_frame": 318, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 318, "end_frame": 601, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 601, "end_frame": 702, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 702, "end_frame": 874, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 874, "end_frame": 1038, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1038, "end_frame": 1312, "action_text": "Grab the cup 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650, "end_frame": 744, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 744, "end_frame": 972, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 972, "end_frame": 1089, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1089, "end_frame": 1371, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1371, "end_frame": 1989, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1989, "end_frame": 2187, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2187, "end_frame": 2451, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2451, "end_frame": 2527, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2527, "end_frame": 2675, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2675, "end_frame": 2809, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2809, "end_frame": 3047, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 3047, "end_frame": 3257, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3257, "end_frame": 3517, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 648985, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 18, "end_frame": 284, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 284, "end_frame": 600, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 600, "end_frame": 738, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 738, "end_frame": 1044, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1044, "end_frame": 1206, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1206, "end_frame": 1356, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1356, "end_frame": 1746, "action_text": "Scrub the transparent water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1746, "end_frame": 1974, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1974, "end_frame": 2370, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2370, "end_frame": 2497, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2497, "end_frame": 2809, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2809, "end_frame": 2995, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2995, "end_frame": 3205, "action_text": "Swing the left arm holding transparent water bottle.", "skill": "Shake" }, { "start_frame": 3205, "end_frame": 3505, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3505, "end_frame": 3835, "action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 649027, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 303, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 303, "end_frame": 749, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 749, "end_frame": 934, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 934, "end_frame": 1207, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1207, "end_frame": 1463, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1463, "end_frame": 1653, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1653, "end_frame": 2004, "action_text": "Scrub the transparent water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2004, "end_frame": 2206, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2206, "end_frame": 2522, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2522, 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"Pick" }, { "start_frame": 235, "end_frame": 565, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 565, "end_frame": 705, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 705, "end_frame": 1067, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1067, "end_frame": 1232, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1232, "end_frame": 1416, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1416, "end_frame": 1899, "action_text": "Scrub the transparent water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1899, "end_frame": 2204, "action_text": "Place the cup brush back into the storage box on the counter with the 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"skill": "Place" } ], "key_frame": [] } }, { "episode_id": 657719, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 286, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 286, "end_frame": 616, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 616, "end_frame": 730, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 730, "end_frame": 956, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 956, "end_frame": 1074, "action_text": "Turn off the faucet 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"Place" } ], "key_frame": [] } }, { "episode_id": 657782, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 237, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 237, "end_frame": 664, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 664, "end_frame": 757, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 757, "end_frame": 1086, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1086, "end_frame": 1215, "action_text": "Turn off the faucet with the 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"Place" } ], "key_frame": [] } }, { "episode_id": 658735, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [], "key_frame": [] } }, { "episode_id": 658762, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [], "key_frame": [] } }, { "episode_id": 658825, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup 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"key_frame": [] } }, { "episode_id": 659386, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 171, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 171, "end_frame": 371, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 371, "end_frame": 493, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 493, "end_frame": 701, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 701, "end_frame": 778, "action_text": "Turn off the faucet with the right arm.", 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}, { "episode_id": 662464, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [], "key_frame": [] } }, { "episode_id": 662530, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [], "key_frame": [] } }, { "episode_id": 662568, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a 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"Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [], "key_frame": [] } }, { "episode_id": 662807, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [], "key_frame": [] } }, { "episode_id": 663735, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 30, "end_frame": 222, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 222, "end_frame": 400, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 400, "end_frame": 527, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 527, "end_frame": 822, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 822, "end_frame": 1030, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1030, "end_frame": 1208, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1208, "end_frame": 1819, "action_text": "Scrub the transparent water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" 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"start_frame": 3441, "end_frame": 3794, "action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663754, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 16, "end_frame": 242, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 242, "end_frame": 424, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 424, "end_frame": 561, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 561, "end_frame": 818, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 818, "end_frame": 901, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 901, "end_frame": 1152, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1152, "end_frame": 1508, "action_text": "Scrub the transparent water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1508, "end_frame": 1698, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1698, "end_frame": 2059, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2059, "end_frame": 2171, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2171, "end_frame": 2483, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2483, "end_frame": 2565, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2565, "end_frame": 2674, "action_text": "Swing the left arm holding transparent water bottle.", "skill": "Shake" }, { "start_frame": 2674, "end_frame": 2914, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2914, "end_frame": 3272, "action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663782, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { 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"start_frame": 2777, "end_frame": 3156, "action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663813, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 23, "end_frame": 242, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 242, "end_frame": 432, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 432, "end_frame": 534, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 534, "end_frame": 660, "action_text": 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"start_frame": 2676, "end_frame": 3039, "action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663866, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 12, "end_frame": 236, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 236, "end_frame": 431, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 431, "end_frame": 536, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 536, "end_frame": 801, "action_text": 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"start_frame": 2667, "end_frame": 3135, "action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663911, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 20, "end_frame": 240, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 240, "end_frame": 415, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 415, "end_frame": 564, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 564, "end_frame": 761, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 761, "end_frame": 858, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 858, "end_frame": 1103, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1103, "end_frame": 1518, "action_text": "Scrub the transparent water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1518, "end_frame": 1687, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1687, "end_frame": 1953, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 1953, "end_frame": 2058, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2058, 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}, { "start_frame": 1631, "end_frame": 1845, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1845, "end_frame": 2139, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2139, "end_frame": 2280, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2280, "end_frame": 2460, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2460, "end_frame": 2566, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2566, "end_frame": 2719, "action_text": "Swing the left arm holding transparent water bottle.", "skill": "Shake" }, { "start_frame": 2719, "end_frame": 2856, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2856, "end_frame": 3238, "action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 663981, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 211, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 211, "end_frame": 422, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 422, "end_frame": 547, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 547, "end_frame": 780, "action_text": "Turn 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2343, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2343, "end_frame": 2419, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2419, "end_frame": 2608, "action_text": "Swing the left arm holding transparent water bottle.", "skill": "Shake" }, { "start_frame": 2608, "end_frame": 2781, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2781, "end_frame": 2931, "action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664049, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { 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"start_frame": 3009, "end_frame": 3286, "action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664100, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 20, "end_frame": 234, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 234, "end_frame": 423, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 423, "end_frame": 564, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 564, "end_frame": 729, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 729, "end_frame": 850, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 850, "end_frame": 1095, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1095, "end_frame": 1470, "action_text": "Scrub the transparent water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1470, "end_frame": 1695, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1695, "end_frame": 1969, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 1969, "end_frame": 2110, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2110, 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"start_frame": 2845, "end_frame": 3232, "action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664156, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 12, "end_frame": 210, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 210, "end_frame": 427, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 427, "end_frame": 532, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 532, "end_frame": 746, "action_text": 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"start_frame": 2570, "end_frame": 3045, "action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664203, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 8, "end_frame": 271, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 271, "end_frame": 465, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 465, "end_frame": 570, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 570, "end_frame": 829, "action_text": "Turn 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"start_frame": 2543, "end_frame": 2938, "action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664304, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 238, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 238, "end_frame": 399, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 399, "end_frame": 531, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 531, "end_frame": 737, "action_text": "Turn 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2449, "end_frame": 2924, "action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664354, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 238, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 238, "end_frame": 447, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 447, "end_frame": 556, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 556, "end_frame": 749, "action_text": "Turn on the faucet 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"start_frame": 16, "end_frame": 246, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 246, "end_frame": 424, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 424, "end_frame": 517, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 517, "end_frame": 642, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 642, "end_frame": 735, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 735, "end_frame": 933, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 933, "end_frame": 1248, "action_text": "Scrub the transparent water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1248, "end_frame": 1442, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1442, "end_frame": 1790, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 1790, "end_frame": 1915, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1915, "end_frame": 2113, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2113, "end_frame": 2242, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2242, "end_frame": 2400, "action_text": "Swing the left arm holding transparent water bottle.", "skill": "Shake" }, { "start_frame": 2400, "end_frame": 2622, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2622, "end_frame": 2994, "action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664395, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 16, "end_frame": 247, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 247, "end_frame": 409, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 409, "end_frame": 518, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 518, "end_frame": 647, "action_text": "Turn on the faucet with 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"action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664444, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 28, "end_frame": 218, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 218, "end_frame": 408, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 408, "end_frame": 491, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 491, "end_frame": 690, "action_text": "Turn on the faucet with the right arm.", 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"action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664521, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 19, "end_frame": 264, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 264, "end_frame": 459, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 459, "end_frame": 593, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 593, "end_frame": 792, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 792, "end_frame": 931, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 931, "end_frame": 1131, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1131, "end_frame": 1492, "action_text": "Scrub the transparent water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1492, "end_frame": 1701, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1701, "end_frame": 2025, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2025, "end_frame": 2164, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2164, "end_frame": 2354, "action_text": "Turn on the 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"action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664600, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 307, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 307, "end_frame": 492, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 492, "end_frame": 636, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 636, "end_frame": 864, "action_text": "Turn on the faucet with the right arm.", 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"action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664640, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 14, "end_frame": 240, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 240, "end_frame": 436, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 436, "end_frame": 556, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 556, "end_frame": 700, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 700, "end_frame": 849, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 849, "end_frame": 1029, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1029, "end_frame": 1377, "action_text": "Scrub the transparent water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1377, "end_frame": 1586, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1586, "end_frame": 1920, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 1920, "end_frame": 2068, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2068, "end_frame": 2221, "action_text": "Turn on the 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"action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664687, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 19, "end_frame": 241, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 241, "end_frame": 447, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 447, "end_frame": 573, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 573, "end_frame": 764, "action_text": "Turn on the faucet with the right arm.", 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"action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664739, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 42, "end_frame": 259, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 259, "end_frame": 440, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 440, "end_frame": 523, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 523, "end_frame": 690, "action_text": "Turn on the faucet with the right arm.", 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"action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664794, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 23, "end_frame": 240, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 240, "end_frame": 376, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 376, "end_frame": 483, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 483, "end_frame": 696, "action_text": "Turn on the faucet with the right arm.", 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"action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664893, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 19, "end_frame": 195, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 195, "end_frame": 408, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 408, "end_frame": 510, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 510, "end_frame": 728, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 728, "end_frame": 840, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 840, "end_frame": 1044, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1044, "end_frame": 1420, "action_text": "Scrub the transparent water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1420, "end_frame": 1661, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1661, "end_frame": 2014, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2014, "end_frame": 2144, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2144, "end_frame": 2292, "action_text": "Turn on the 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"end_frame": 232, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 232, "end_frame": 427, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 427, "end_frame": 557, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 557, "end_frame": 738, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 738, "end_frame": 906, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 906, "end_frame": 1115, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1115, "end_frame": 1449, "action_text": "Scrub the transparent water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1449, "end_frame": 1667, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1667, "end_frame": 2108, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2108, "end_frame": 2243, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2243, "end_frame": 2406, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2406, "end_frame": 2512, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2512, "end_frame": 2629, "action_text": "Swing the left arm holding transparent water bottle.", "skill": "Shake" }, { "start_frame": 2629, "end_frame": 2814, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2814, "end_frame": 3135, "action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664956, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 37, "end_frame": 255, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 255, "end_frame": 543, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 543, "end_frame": 664, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 664, "end_frame": 827, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 827, "end_frame": 933, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 933, "end_frame": 1119, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1119, "end_frame": 1519, "action_text": "Scrub the transparent water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1519, "end_frame": 1714, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1714, "end_frame": 2090, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2090, "end_frame": 2248, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2248, "end_frame": 2433, "action_text": "Turn on the 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"action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 664999, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 36, "end_frame": 233, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 233, "end_frame": 439, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 439, "end_frame": 571, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 571, "end_frame": 760, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 760, "end_frame": 861, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 861, "end_frame": 1054, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1054, "end_frame": 1456, "action_text": "Scrub the transparent water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1456, "end_frame": 1714, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1714, "end_frame": 2152, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2152, "end_frame": 2309, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2309, "end_frame": 2482, "action_text": "Turn on the 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1885, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1885, "end_frame": 2172, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2172, "end_frame": 2289, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2289, "end_frame": 2495, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2495, "end_frame": 2652, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2652, "end_frame": 2793, "action_text": "Swing the left arm holding transparent water bottle.", "skill": "Shake" }, { "start_frame": 2793, "end_frame": 2902, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2902, "end_frame": 3108, "action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 665146, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 45, "end_frame": 298, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 298, "end_frame": 509, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 509, "end_frame": 670, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 670, "end_frame": 922, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 922, "end_frame": 1063, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1063, "end_frame": 1253, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1253, "end_frame": 1530, "action_text": "Scrub the transparent water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1530, "end_frame": 1869, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1869, "end_frame": 2117, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2117, "end_frame": 2229, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2229, "end_frame": 2419, "action_text": "Turn on the 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"action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 665191, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 20, "end_frame": 246, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 246, "end_frame": 384, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 384, "end_frame": 485, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 485, "end_frame": 683, "action_text": "Turn on the faucet with the right arm.", 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"action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 665238, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 222, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 222, "end_frame": 391, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 391, "end_frame": 488, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 488, "end_frame": 729, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 729, "end_frame": 907, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 907, "end_frame": 1116, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1116, "end_frame": 1463, "action_text": "Scrub the transparent water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1463, "end_frame": 1680, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1680, "end_frame": 1910, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 1910, "end_frame": 2019, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2019, "end_frame": 2196, "action_text": "Turn on the 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"end_frame": 202, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 202, "end_frame": 339, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 339, "end_frame": 412, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 412, "end_frame": 614, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 614, "end_frame": 739, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 739, "end_frame": 913, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 913, "end_frame": 1227, "action_text": "Scrub the transparent water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1227, "end_frame": 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"action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 665298, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 16, "end_frame": 225, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 225, "end_frame": 399, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 399, "end_frame": 544, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 544, "end_frame": 741, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 741, "end_frame": 854, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 854, "end_frame": 1047, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1047, "end_frame": 1397, "action_text": "Scrub the transparent water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1397, "end_frame": 1671, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1671, "end_frame": 1929, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 1929, "end_frame": 2038, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2038, "end_frame": 2223, "action_text": "Turn on the 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"action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 665341, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 36, "end_frame": 226, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 226, "end_frame": 411, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 411, "end_frame": 491, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 491, "end_frame": 713, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 713, "end_frame": 818, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 818, "end_frame": 1011, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1011, "end_frame": 1305, "action_text": "Scrub the transparent water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1305, "end_frame": 1506, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1506, "end_frame": 1740, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 1740, "end_frame": 1857, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1857, "end_frame": 2006, "action_text": "Turn on the 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"action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 665388, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 209, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 209, "end_frame": 413, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 413, "end_frame": 515, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 515, "end_frame": 720, "action_text": "Turn on the faucet with the right arm.", 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"action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 665466, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 227, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 227, "end_frame": 410, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 410, "end_frame": 466, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 466, "end_frame": 661, "action_text": "Turn on the faucet with the right arm.", 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"action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 665531, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 190, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 190, "end_frame": 405, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 405, "end_frame": 454, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 454, "end_frame": 620, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 620, "end_frame": 855, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 855, "end_frame": 997, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 997, "end_frame": 1301, "action_text": "Scrub the transparent water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1301, "end_frame": 1503, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1503, "end_frame": 1767, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 1767, "end_frame": 1831, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1831, "end_frame": 2006, "action_text": "Turn on the 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"end_frame": 198, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 198, "end_frame": 405, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 405, "end_frame": 490, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 490, "end_frame": 709, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 709, "end_frame": 802, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 802, "end_frame": 964, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 964, "end_frame": 1263, "action_text": "Scrub the transparent water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1263, "end_frame": 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"action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 665555, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 252, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 252, "end_frame": 407, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 407, "end_frame": 468, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 468, "end_frame": 650, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 650, "end_frame": 805, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 805, "end_frame": 988, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 988, "end_frame": 1305, "action_text": "Scrub the transparent water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1305, "end_frame": 1508, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1508, "end_frame": 1744, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 1744, "end_frame": 1809, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1809, "end_frame": 2012, "action_text": "Turn on the 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"action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 670242, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 220, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 220, "end_frame": 422, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 422, "end_frame": 533, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 533, "end_frame": 838, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 838, "end_frame": 948, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 948, "end_frame": 1135, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1135, "end_frame": 1631, "action_text": "Scrub the transparent water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1631, "end_frame": 1928, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1928, "end_frame": 2172, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2172, "end_frame": 2262, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2262, "end_frame": 2550, "action_text": "Turn on the 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"action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 670630, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 235, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 235, "end_frame": 442, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 442, "end_frame": 523, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 523, "end_frame": 734, "action_text": "Turn on the faucet with the right arm.", 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"action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 670809, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 202, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 202, "end_frame": 428, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 428, "end_frame": 508, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 508, "end_frame": 822, "action_text": "Turn on the faucet with the right arm.", 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"action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 671134, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 229, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 229, "end_frame": 441, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 441, "end_frame": 545, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 545, "end_frame": 843, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 843, "end_frame": 916, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 916, "end_frame": 1102, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1102, "end_frame": 1504, "action_text": "Scrub the transparent water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1504, "end_frame": 1747, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1747, "end_frame": 2015, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2015, "end_frame": 2127, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2127, "end_frame": 2326, "action_text": "Turn on the 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"end_frame": 247, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 247, "end_frame": 430, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 430, "end_frame": 592, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 592, "end_frame": 847, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 847, "end_frame": 969, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 969, "end_frame": 1139, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1139, "end_frame": 1496, "action_text": "Scrub the transparent water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1496, "end_frame": 1735, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1735, "end_frame": 1938, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 1938, "end_frame": 2051, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2051, "end_frame": 2218, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2218, "end_frame": 2364, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2364, "end_frame": 2518, "action_text": "Swing the left arm holding transparent water bottle.", "skill": "Shake" }, { "start_frame": 2518, "end_frame": 2668, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2668, "end_frame": 2842, "action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 671321, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 367, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 367, "end_frame": 522, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 522, "end_frame": 829, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 829, "end_frame": 1028, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1028, "end_frame": 1199, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1199, "end_frame": 1779, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1779, "end_frame": 2491, "action_text": "Scrub the transparent water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2491, "end_frame": 2691, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2691, "end_frame": 3071, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3071, "end_frame": 3363, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 3363, "end_frame": 3636, "action_text": "Turn on the 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"end_frame": 377, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 377, "end_frame": 541, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 541, "end_frame": 826, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 826, "end_frame": 1001, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1001, "end_frame": 1136, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1136, "end_frame": 1737, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1737, "end_frame": 2533, "action_text": "Scrub the transparent water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2533, "end_frame": 2713, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2713, "end_frame": 3079, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3079, "end_frame": 3424, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 3424, "end_frame": 3629, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3629, "end_frame": 3900, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3900, "end_frame": 4345, "action_text": "Swing the left arm holding transparent water bottle.", "skill": "Shake" }, { "start_frame": 4345, "end_frame": 4570, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 4570, "end_frame": 4971, "action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 671537, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 363, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 363, "end_frame": 535, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 535, "end_frame": 818, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 818, "end_frame": 1080, "action_text": "Turn on the faucet with the right 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"end_frame": 2715, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2715, "end_frame": 3260, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3260, "end_frame": 3504, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 3504, "end_frame": 3749, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3749, "end_frame": 3871, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3871, "end_frame": 4452, "action_text": "Swing the left arm holding transparent water bottle.", "skill": "Shake" }, { "start_frame": 4452, "end_frame": 4727, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 4727, "end_frame": 5083, "action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 671611, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 475, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 475, "end_frame": 591, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 591, "end_frame": 828, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 828, "end_frame": 1035, "action_text": "Turn on the faucet with the right 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"end_frame": 2865, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2865, "end_frame": 3249, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3249, "end_frame": 3565, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 3565, "end_frame": 3853, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3853, "end_frame": 3992, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3992, "end_frame": 4516, "action_text": "Swing the left arm holding transparent water bottle.", "skill": "Shake" }, { "start_frame": 4516, "end_frame": 4895, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 4895, "end_frame": 5344, "action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 671693, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 378, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 378, "end_frame": 548, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 548, "end_frame": 809, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 809, "end_frame": 1075, "action_text": "Turn on the faucet with the right 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on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3831, "end_frame": 3975, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3975, "end_frame": 4624, "action_text": "Swing the left arm holding transparent water bottle.", "skill": "Shake" }, { "start_frame": 4624, "end_frame": 4784, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 4784, "end_frame": 5326, "action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 671914, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 439, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 439, "end_frame": 582, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 582, "end_frame": 899, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 899, "end_frame": 1200, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1200, "end_frame": 1316, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1316, "end_frame": 1813, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1813, "end_frame": 2480, "action_text": "Scrub the transparent water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2480, "end_frame": 2670, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2670, "end_frame": 3251, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3251, "end_frame": 3532, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 3532, "end_frame": 3896, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3896, "end_frame": 4066, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 4066, "end_frame": 4615, "action_text": "Swing the left arm holding transparent water bottle.", "skill": "Shake" }, { "start_frame": 4615, "end_frame": 4800, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 4800, "end_frame": 5255, "action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 671948, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 397, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 397, "end_frame": 644, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 644, "end_frame": 943, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 943, "end_frame": 1224, "action_text": "Turn on the faucet with the right 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"end_frame": 382, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 382, "end_frame": 573, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 573, "end_frame": 867, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 867, "end_frame": 1106, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1106, "end_frame": 1222, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1222, "end_frame": 1739, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1739, "end_frame": 2460, "action_text": "Scrub the transparent water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2460, "end_frame": 2738, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2738, "end_frame": 3291, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3291, "end_frame": 3494, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 3494, "end_frame": 3727, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3727, "end_frame": 3874, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3874, "end_frame": 4382, "action_text": "Swing the left arm holding transparent water bottle.", "skill": "Shake" }, { "start_frame": 4382, "end_frame": 4610, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 4610, "end_frame": 5076, "action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 672033, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 453, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 453, "end_frame": 640, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 640, "end_frame": 930, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 930, "end_frame": 1176, "action_text": "Turn on the faucet with the right 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"end_frame": 2793, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2793, "end_frame": 3174, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3174, "end_frame": 3422, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 3422, "end_frame": 3834, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3834, "end_frame": 4066, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 4066, "end_frame": 4509, "action_text": "Swing the left arm holding transparent water bottle.", "skill": "Shake" }, { "start_frame": 4509, "end_frame": 4756, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 4756, "end_frame": 5246, "action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 672085, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 390, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 390, "end_frame": 576, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 576, "end_frame": 786, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 786, "end_frame": 1019, "action_text": "Turn on the faucet with the right 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4850, "action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 672157, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 359, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 359, "end_frame": 529, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 529, "end_frame": 744, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 744, "end_frame": 1030, "action_text": "Turn on the faucet with the right 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"action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 672216, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 325, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 325, "end_frame": 458, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 458, "end_frame": 699, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 699, "end_frame": 932, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 932, "end_frame": 1152, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1152, "end_frame": 1467, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1467, "end_frame": 2124, "action_text": "Scrub the transparent water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2124, "end_frame": 2331, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2331, "end_frame": 2581, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2581, "end_frame": 2866, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2866, "end_frame": 3133, "action_text": "Turn on the 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"end_frame": 357, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 357, "end_frame": 492, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 492, "end_frame": 723, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 723, "end_frame": 941, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 941, "end_frame": 1132, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1132, "end_frame": 1537, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1537, "end_frame": 2234, "action_text": "Scrub the transparent water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2234, "end_frame": 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"action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 672277, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 374, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 374, "end_frame": 526, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 526, "end_frame": 743, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 743, "end_frame": 1024, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1024, "end_frame": 1292, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1292, "end_frame": 1703, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1703, "end_frame": 2372, "action_text": "Scrub the transparent water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2372, "end_frame": 2626, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2626, "end_frame": 2949, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2949, "end_frame": 3184, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 3184, "end_frame": 3419, "action_text": "Turn on the 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"action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 672357, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 320, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 320, "end_frame": 504, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 504, "end_frame": 742, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 742, "end_frame": 992, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 992, "end_frame": 1328, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1328, "end_frame": 1728, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1728, "end_frame": 2273, "action_text": "Scrub the transparent water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2273, "end_frame": 2589, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2589, "end_frame": 2835, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2835, "end_frame": 3054, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 3054, "end_frame": 3296, "action_text": "Turn on the 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"end_frame": 2677, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2677, "end_frame": 2960, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2960, "end_frame": 3173, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 3173, "end_frame": 3415, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3415, "end_frame": 3624, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3624, "end_frame": 4013, "action_text": "Swing the left arm holding transparent water bottle.", "skill": "Shake" }, { "start_frame": 4013, "end_frame": 4182, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 4182, "end_frame": 4694, "action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 672458, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 302, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 302, "end_frame": 481, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 481, "end_frame": 713, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 713, "end_frame": 981, "action_text": "Turn on the faucet with the right 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"action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 672524, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 278, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 278, "end_frame": 452, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 452, "end_frame": 665, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 665, "end_frame": 903, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 903, "end_frame": 1113, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1113, "end_frame": 1609, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1609, "end_frame": 2326, "action_text": "Scrub the transparent water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2326, "end_frame": 2657, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2657, "end_frame": 2919, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2919, "end_frame": 3096, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 3096, "end_frame": 3387, "action_text": "Turn on the 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"action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 672596, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 262, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 262, "end_frame": 461, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 461, "end_frame": 648, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 648, "end_frame": 923, "action_text": "Turn on the faucet with the right arm.", 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"action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 672664, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 314, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 314, "end_frame": 530, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 530, "end_frame": 742, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 742, "end_frame": 950, "action_text": "Turn on the faucet with the right arm.", 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"action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [ { "start": 1240, "end": 1522, "description": "" } ] } }, { "episode_id": 672766, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 343, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 343, "end_frame": 510, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 510, "end_frame": 744, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 744, "end_frame": 1087, 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"skill": "Pour" }, { "start_frame": 4091, "end_frame": 4497, "action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 673003, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 307, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 307, "end_frame": 491, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 491, "end_frame": 721, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 721, "end_frame": 985, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 985, "end_frame": 1288, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1288, "end_frame": 1584, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1584, "end_frame": 2316, "action_text": "Scrub the transparent water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2316, "end_frame": 2619, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2619, "end_frame": 2872, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2872, "end_frame": 3117, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 3117, "end_frame": 3305, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3305, "end_frame": 3455, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3455, "end_frame": 3811, "action_text": "Swing the left arm holding transparent water bottle.", "skill": "Shake" }, { "start_frame": 3811, "end_frame": 4057, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 4057, "end_frame": 4356, "action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 673038, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the 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"skill": "Pour" }, { "start_frame": 4036, "end_frame": 4432, "action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 673067, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 282, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 282, "end_frame": 449, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 449, "end_frame": 664, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 664, "end_frame": 916, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 916, "end_frame": 1210, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1210, "end_frame": 1510, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1510, "end_frame": 2178, "action_text": "Scrub the transparent water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2178, "end_frame": 2438, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2438, "end_frame": 2664, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2664, "end_frame": 2857, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { 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"skill": "Pour" }, { "start_frame": 3839, "end_frame": 4152, "action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 673122, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 276, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 276, "end_frame": 449, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 449, "end_frame": 694, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 694, "end_frame": 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"Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3728, "end_frame": 4031, "action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 673288, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 305, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 305, "end_frame": 462, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 462, "end_frame": 635, "action_text": "Place the transparent water bottle held in the left arm 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"Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3472, "end_frame": 3812, "action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 673685, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 290, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 290, "end_frame": 442, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 442, "end_frame": 598, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 598, "end_frame": 831, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 831, "end_frame": 956, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 956, "end_frame": 1432, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1432, "end_frame": 1981, "action_text": "Scrub the transparent water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1981, "end_frame": 2153, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2153, "end_frame": 2438, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2438, "end_frame": 2598, "action_text": "Place the transparent water 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"skill": "Hold" }, { "start_frame": 675, "end_frame": 906, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 906, "end_frame": 1090, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1090, "end_frame": 1457, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1457, "end_frame": 2036, "action_text": "Scrub the transparent water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2036, "end_frame": 2283, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2283, "end_frame": 2530, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2530, "end_frame": 2686, "action_text": "Place the transparent water bottle held in the 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"start_frame": 642, "end_frame": 880, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 880, "end_frame": 1156, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1156, "end_frame": 1417, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1417, "end_frame": 1953, "action_text": "Scrub the transparent water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1953, "end_frame": 2142, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2142, "end_frame": 2421, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2421, "end_frame": 2573, "action_text": "Place the transparent water bottle held in the left arm under the 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"start_frame": 695, "end_frame": 949, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 949, "end_frame": 1132, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1132, "end_frame": 1557, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1557, "end_frame": 2114, "action_text": "Scrub the transparent water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2114, "end_frame": 2289, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2289, "end_frame": 2580, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2580, "end_frame": 2755, "action_text": "Place the transparent water bottle held in the left arm under the 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storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 285, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 285, "end_frame": 442, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 442, "end_frame": 596, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 596, "end_frame": 788, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 788, "end_frame": 1107, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1107, "end_frame": 1373, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1373, "end_frame": 1872, "action_text": "Scrub the transparent water bottle held in the left arm with 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"start_frame": 565, "end_frame": 839, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 839, "end_frame": 952, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 952, "end_frame": 1497, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1497, "end_frame": 2025, "action_text": "Scrub the transparent water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2025, "end_frame": 2295, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2295, "end_frame": 2562, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2562, "end_frame": 2731, "action_text": "Place the transparent water bottle held in the left arm under the 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"Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 564, "end_frame": 823, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 823, "end_frame": 1092, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1092, "end_frame": 1386, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1386, "end_frame": 1929, "action_text": "Scrub the transparent water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1929, "end_frame": 2174, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2174, "end_frame": 2386, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2386, "end_frame": 2564, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2564, "end_frame": 2798, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2798, "end_frame": 2975, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2975, "end_frame": 3319, "action_text": "Swing the left arm holding transparent water bottle.", "skill": "Shake" }, { "start_frame": 3319, "end_frame": 3542, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3542, "end_frame": 3876, "action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 674421, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle 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"Shake" }, { "start_frame": 3570, "end_frame": 3726, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3726, "end_frame": 4015, "action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [ { "start": 1184, "end": 1451, "description": "" }, { "start": 2911, "end": 3183, "description": "" } ] } }, { "episode_id": 674485, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 30, "end_frame": 291, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 291, "end_frame": 478, "action_text": "Empty the water from the transparent 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"end_frame": 3505, "action_text": "Swing the left arm holding transparent water bottle.", "skill": "Shake" }, { "start_frame": 3505, "end_frame": 3670, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3670, "end_frame": 3901, "action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 674550, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 261, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 261, "end_frame": 438, "action_text": "Empty the water from the transparent 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"end_frame": 3804, "action_text": "Swing the left arm holding transparent water bottle.", "skill": "Shake" }, { "start_frame": 3804, "end_frame": 3993, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3993, "end_frame": 4253, "action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677540, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 303, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 303, "end_frame": 473, "action_text": "Empty the water from the transparent 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"end_frame": 3809, "action_text": "Swing the left arm holding transparent water bottle.", "skill": "Shake" }, { "start_frame": 3809, "end_frame": 3967, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3967, "end_frame": 4241, "action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677580, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 298, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 298, "end_frame": 465, "action_text": "Empty the water from the transparent 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"end_frame": 3614, "action_text": "Swing the left arm holding transparent water bottle.", "skill": "Shake" }, { "start_frame": 3614, "end_frame": 3796, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3796, "end_frame": 4106, "action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [ { "start": 1233, "end": 1557, "description": "" } ] } }, { "episode_id": 677608, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 302, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 302, "end_frame": 486, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 486, "end_frame": 658, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 658, "end_frame": 929, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 929, "end_frame": 1269, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1269, "end_frame": 1579, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1579, "end_frame": 2121, "action_text": "Scrub the transparent water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2121, "end_frame": 2374, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 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"episode_id": 677616, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 271, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 271, "end_frame": 476, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 476, "end_frame": 660, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 660, "end_frame": 882, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 882, "end_frame": 1197, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { 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"Place" } ], "key_frame": [] } }, { "episode_id": 677687, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 285, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 285, "end_frame": 462, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 462, "end_frame": 643, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 643, "end_frame": 873, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 873, "end_frame": 1245, "action_text": "Turn off the faucet with the 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"Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3417, "end_frame": 3734, "action_text": "Swing the left arm holding transparent water bottle.", "skill": "Shake" }, { "start_frame": 3734, "end_frame": 3910, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3910, "end_frame": 4191, "action_text": "Place the transparent water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677711, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 257, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { 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], "key_frame": [] } }, { "episode_id": 677736, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 292, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 292, "end_frame": 502, "action_text": "Empty the water from the transparent water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 502, "end_frame": 690, "action_text": "Place the transparent water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 690, "end_frame": 945, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 945, "end_frame": 1297, "action_text": "Turn off the faucet with the right arm.", 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} }, { "episode_id": 677805, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 303, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 303, "end_frame": 472, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 472, "end_frame": 699, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 699, "end_frame": 958, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 958, "end_frame": 1274, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { 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"Push" }, { "start_frame": 3684, "end_frame": 3968, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 3968, "end_frame": 4182, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 4182, "end_frame": 4471, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677835, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 323, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 323, "end_frame": 502, "action_text": "Empty the water from the gray 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"Shake" }, { "start_frame": 3758, "end_frame": 3924, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3924, "end_frame": 4254, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677900, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 326, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 326, "end_frame": 439, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 439, "end_frame": 683, "action_text": "Place the 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"end_frame": 3430, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3430, "end_frame": 3712, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3712, "end_frame": 3957, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 3957, "end_frame": 4180, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 4180, "end_frame": 4471, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 677998, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { 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"task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 267, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 267, "end_frame": 440, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 440, "end_frame": 689, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 689, "end_frame": 950, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 950, "end_frame": 1259, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1259, "end_frame": 1604, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1604, "end_frame": 2364, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2364, "end_frame": 2703, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2703, "end_frame": 3036, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3036, "end_frame": 3255, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 3255, "end_frame": 3511, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3511, "end_frame": 3808, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3808, "end_frame": 4212, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 4212, "end_frame": 4325, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 4325, "end_frame": 4723, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678156, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 312, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 312, "end_frame": 498, "action_text": "Empty the water from the gray water bottle held in the left 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left arm.", "skill": "Pour" }, { "start_frame": 2732, "end_frame": 2962, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2962, "end_frame": 3192, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3192, "end_frame": 3400, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3400, "end_frame": 3788, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 3788, "end_frame": 3980, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3980, "end_frame": 4358, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678198, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 277, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 277, "end_frame": 448, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 448, "end_frame": 658, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 658, "end_frame": 946, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 946, "end_frame": 1295, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1295, "end_frame": 1549, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1549, "end_frame": 2202, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2202, "end_frame": 2501, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2501, "end_frame": 2827, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2827, "end_frame": 3010, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 3010, "end_frame": 3270, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3270, "end_frame": 3480, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3480, "end_frame": 3884, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 3884, "end_frame": 4039, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 4039, "end_frame": 4404, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678233, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 247, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 247, "end_frame": 406, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 406, "end_frame": 636, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 636, "end_frame": 877, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 877, "end_frame": 1206, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1206, "end_frame": 1573, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1573, "end_frame": 2225, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2225, "end_frame": 2543, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2543, "end_frame": 2801, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2801, "end_frame": 2996, "action_text": "Place the gray water bottle held in the 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storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 261, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 261, "end_frame": 397, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 397, "end_frame": 612, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 612, "end_frame": 821, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 821, "end_frame": 1178, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1178, "end_frame": 1518, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1518, "end_frame": 2277, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2277, "end_frame": 2583, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2583, "end_frame": 2906, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2906, "end_frame": 3093, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 3093, "end_frame": 3359, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3359, "end_frame": 3580, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3580, "end_frame": 3982, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 3982, "end_frame": 4146, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 4146, "end_frame": 4486, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678314, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 275, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 275, "end_frame": 498, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 498, "end_frame": 699, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 699, "end_frame": 974, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 974, "end_frame": 1375, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1375, "end_frame": 1661, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1661, "end_frame": 2280, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2280, "end_frame": 2590, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2590, "end_frame": 2893, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2893, "end_frame": 3088, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 3088, "end_frame": 3386, "action_text": "Turn on the 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onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678385, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 248, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 248, "end_frame": 445, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 445, "end_frame": 643, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 643, "end_frame": 874, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 874, "end_frame": 1189, "action_text": "Turn off the 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2835, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2835, "end_frame": 2984, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2984, "end_frame": 3259, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3259, "end_frame": 3603, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3603, "end_frame": 3935, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 3935, "end_frame": 4158, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 4158, "end_frame": 4548, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678449, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 261, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 261, "end_frame": 450, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 450, "end_frame": 612, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 612, "end_frame": 873, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 873, "end_frame": 1201, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1201, "end_frame": 1546, "action_text": "Grab the cup brush from 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arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 3920, "end_frame": 4076, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 4076, "end_frame": 4432, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678481, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 254, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 254, "end_frame": 434, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 434, "end_frame": 643, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 643, "end_frame": 891, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 891, "end_frame": 1207, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1207, "end_frame": 1494, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1494, "end_frame": 2233, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2233, "end_frame": 2571, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2571, "end_frame": 2870, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 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"Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2344, "end_frame": 2685, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2685, "end_frame": 2977, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2977, "end_frame": 3157, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 3157, "end_frame": 3435, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3435, "end_frame": 3659, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3659, "end_frame": 4010, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 4010, "end_frame": 4205, "action_text": "Empty the water 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"Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678686, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 282, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 282, "end_frame": 501, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 501, "end_frame": 625, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 625, "end_frame": 918, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 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"episode_id": 678808, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 255, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 255, "end_frame": 455, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 455, "end_frame": 585, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 585, "end_frame": 813, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 813, "end_frame": 1176, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 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brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 306, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 306, "end_frame": 507, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 507, "end_frame": 646, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 646, "end_frame": 917, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 917, "end_frame": 1269, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1269, "end_frame": 1540, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1540, "end_frame": 2197, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2197, "end_frame": 2595, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2595, "end_frame": 2912, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2912, "end_frame": 3033, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 3033, "end_frame": 3299, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3299, "end_frame": 3656, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3656, "end_frame": 4020, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 4020, "end_frame": 4187, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 4187, "end_frame": 4516, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679038, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 270, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 270, "end_frame": 478, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 478, "end_frame": 657, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 657, "end_frame": 882, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 882, "end_frame": 1214, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1214, "end_frame": 1484, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1484, "end_frame": 2192, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2192, "end_frame": 2501, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2501, "end_frame": 2799, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2799, "end_frame": 2905, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2905, "end_frame": 3169, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3169, "end_frame": 3377, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3377, "end_frame": 3771, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 3771, "end_frame": 4018, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 4018, "end_frame": 4389, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679158, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 274, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 274, "end_frame": 549, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 549, "end_frame": 709, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 709, "end_frame": 989, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 989, "end_frame": 1383, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1383, "end_frame": 1674, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1674, "end_frame": 2383, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2383, "end_frame": 2737, "action_text": "Place the cup 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onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679233, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 262, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 262, "end_frame": 491, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 491, "end_frame": 673, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 673, "end_frame": 924, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 924, "end_frame": 1175, "action_text": "Turn off the 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"action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 473, "end_frame": 636, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 636, "end_frame": 843, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 843, "end_frame": 1163, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1163, "end_frame": 1430, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1430, "end_frame": 2092, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2092, "end_frame": 2446, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2446, "end_frame": 2762, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2762, "end_frame": 2977, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2977, "end_frame": 3137, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3137, "end_frame": 3381, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3381, "end_frame": 3762, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 3762, "end_frame": 3952, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3952, "end_frame": 4278, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679297, "task_id": 392, "task_name": "Brush water 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arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 4007, "end_frame": 4214, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 4214, "end_frame": 4518, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679358, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 260, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 260, "end_frame": 467, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 467, "end_frame": 595, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 595, "end_frame": 834, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 834, "end_frame": 1121, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1121, "end_frame": 1386, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1386, "end_frame": 2061, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2061, "end_frame": 2390, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2390, "end_frame": 2687, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2687, "end_frame": 2794, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2794, "end_frame": 3033, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3033, "end_frame": 3298, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3298, "end_frame": 3649, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 3649, "end_frame": 3893, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 3893, "end_frame": 4164, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679375, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of 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"Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2230, "end_frame": 2532, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2532, "end_frame": 2888, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2888, "end_frame": 3008, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 3008, "end_frame": 3255, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3255, "end_frame": 3468, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3468, "end_frame": 3841, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 3841, "end_frame": 4005, "action_text": "Empty the water 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"start_frame": 634, "end_frame": 931, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 931, "end_frame": 1273, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1273, "end_frame": 1582, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1582, "end_frame": 2271, "action_text": "Scrub the gray water bottle held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2271, "end_frame": 2664, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2664, "end_frame": 2984, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 2984, "end_frame": 3079, "action_text": "Place the gray water bottle held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 3079, "end_frame": 3303, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3303, "end_frame": 3539, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3539, "end_frame": 3920, "action_text": "Swing the left arm holding gray water bottle.", "skill": "Shake" }, { "start_frame": 3920, "end_frame": 4128, "action_text": "Empty the water from the gray water bottle held in the left arm.", "skill": "Pour" }, { "start_frame": 4128, "end_frame": 4419, "action_text": "Place the gray water bottle held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679515, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 326, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 326, "end_frame": 499, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 499, "end_frame": 618, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 618, "end_frame": 961, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 961, "end_frame": 1291, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1291, "end_frame": 1489, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1489, "end_frame": 2150, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2150, "end_frame": 2420, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2420, "end_frame": 2623, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2623, "end_frame": 2729, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2729, "end_frame": 2911, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2911, "end_frame": 3127, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3127, "end_frame": 3398, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3398, "end_frame": 3605, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3605, "end_frame": 3897, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679535, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 345, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 345, "end_frame": 508, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 508, "end_frame": 668, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 668, "end_frame": 913, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 913, "end_frame": 1283, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1283, "end_frame": 1555, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1555, "end_frame": 2231, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2231, "end_frame": 2498, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2498, "end_frame": 2722, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2722, "end_frame": 2864, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2864, "end_frame": 3105, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3105, "end_frame": 3295, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3295, "end_frame": 3583, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3583, "end_frame": 3730, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3730, "end_frame": 4005, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679553, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 307, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 307, "end_frame": 461, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 461, "end_frame": 597, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 597, "end_frame": 891, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 891, "end_frame": 1225, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1225, "end_frame": 1451, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1451, "end_frame": 2220, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2220, "end_frame": 2433, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2433, "end_frame": 2641, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2641, "end_frame": 2812, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2812, "end_frame": 3170, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3170, "end_frame": 3427, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3427, "end_frame": 3753, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3753, "end_frame": 3902, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3902, "end_frame": 4196, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679567, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 306, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 306, "end_frame": 461, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 461, "end_frame": 625, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 625, "end_frame": 917, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 917, "end_frame": 1209, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1209, "end_frame": 1455, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1455, "end_frame": 2303, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2303, "end_frame": 2550, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2550, "end_frame": 2769, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2769, "end_frame": 2901, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2901, "end_frame": 3207, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3207, "end_frame": 3426, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3426, "end_frame": 3800, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3800, "end_frame": 3973, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3973, "end_frame": 4242, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679588, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 363, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 363, "end_frame": 557, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 557, "end_frame": 686, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 686, "end_frame": 1094, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1094, "end_frame": 1412, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1412, "end_frame": 1675, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1675, "end_frame": 2334, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2334, "end_frame": 2556, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2556, "end_frame": 2761, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2761, "end_frame": 2901, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2901, "end_frame": 3219, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3219, "end_frame": 3464, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3464, "end_frame": 3759, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3759, "end_frame": 3909, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3909, "end_frame": 4177, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679613, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 354, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 354, "end_frame": 524, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 524, "end_frame": 635, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 635, "end_frame": 954, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 954, "end_frame": 1248, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1248, "end_frame": 1487, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1487, "end_frame": 2152, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2152, "end_frame": 2352, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2352, "end_frame": 2531, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2531, "end_frame": 2646, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2646, "end_frame": 2919, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2919, "end_frame": 3187, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3187, "end_frame": 3507, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3507, "end_frame": 3643, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3643, "end_frame": 3928, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679637, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 313, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 313, "end_frame": 504, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 504, "end_frame": 719, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 719, "end_frame": 982, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 982, "end_frame": 1277, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1277, "end_frame": 1549, "action_text": "Grab the cup brush from the storage box on 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{ "start_frame": 3669, "end_frame": 3808, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3808, "end_frame": 4102, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679665, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 323, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 323, "end_frame": 525, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 525, "end_frame": 719, "action_text": "Place the water cup held in the left arm under 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"skill": "Hold" }, { "start_frame": 2885, "end_frame": 3207, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3207, "end_frame": 3419, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3419, "end_frame": 3793, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3793, "end_frame": 3949, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3949, "end_frame": 4244, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679700, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 338, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 338, "end_frame": 531, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 531, "end_frame": 707, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 707, "end_frame": 977, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 977, "end_frame": 1332, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1332, "end_frame": 1652, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1652, "end_frame": 2219, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2219, "end_frame": 2430, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2430, "end_frame": 2646, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2646, "end_frame": 2795, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2795, "end_frame": 3069, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3069, "end_frame": 3362, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3362, "end_frame": 3722, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3722, "end_frame": 3875, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3875, "end_frame": 4158, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679725, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 293, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 293, "end_frame": 488, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 488, "end_frame": 644, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 644, "end_frame": 901, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 901, "end_frame": 1194, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1194, "end_frame": 1500, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1500, "end_frame": 2095, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2095, "end_frame": 2321, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2321, "end_frame": 2548, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2548, "end_frame": 2663, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2663, "end_frame": 3036, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3036, "end_frame": 3276, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3276, "end_frame": 3640, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3640, "end_frame": 3786, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3786, "end_frame": 4093, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679751, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 282, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 282, "end_frame": 511, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 511, "end_frame": 663, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 663, "end_frame": 1008, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1008, "end_frame": 1308, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1308, "end_frame": 1577, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1577, "end_frame": 2191, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2191, "end_frame": 2406, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2406, "end_frame": 2639, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2639, "end_frame": 2805, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2805, "end_frame": 3114, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3114, "end_frame": 3347, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3347, "end_frame": 3625, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3625, "end_frame": 3809, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3809, "end_frame": 4131, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679781, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 316, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 316, "end_frame": 476, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 476, "end_frame": 623, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 623, "end_frame": 961, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 961, "end_frame": 1254, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1254, "end_frame": 1584, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1584, "end_frame": 2193, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2193, "end_frame": 2422, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2422, "end_frame": 2646, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2646, "end_frame": 2774, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2774, "end_frame": 3017, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3017, "end_frame": 3301, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3301, "end_frame": 3745, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3745, "end_frame": 3928, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3928, "end_frame": 4203, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679805, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 304, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 304, "end_frame": 496, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 496, "end_frame": 666, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 666, "end_frame": 992, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 992, "end_frame": 1327, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1327, "end_frame": 1613, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1613, "end_frame": 2202, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2202, "end_frame": 2430, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2430, "end_frame": 2649, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2649, "end_frame": 2761, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2761, "end_frame": 3096, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3096, "end_frame": 3297, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3297, "end_frame": 3654, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3654, "end_frame": 3801, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3801, "end_frame": 4101, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679842, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 344, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { 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"end_frame": 2774, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2774, "end_frame": 2916, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2916, "end_frame": 3223, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3223, "end_frame": 3457, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3457, "end_frame": 3774, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3774, "end_frame": 3930, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3930, "end_frame": 4219, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679863, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 315, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 315, "end_frame": 505, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 505, "end_frame": 713, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 713, "end_frame": 1068, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1068, "end_frame": 1365, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1365, "end_frame": 1626, "action_text": "Grab the cup brush from the storage box on the counter with the 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3655, "end_frame": 3810, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3810, "end_frame": 4085, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679889, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 299, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 299, "end_frame": 495, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 495, "end_frame": 656, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 656, "end_frame": 986, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 986, "end_frame": 1329, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1329, "end_frame": 1602, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1602, "end_frame": 2032, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2032, "end_frame": 2373, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2373, "end_frame": 2592, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2592, "end_frame": 2743, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2743, "end_frame": 3051, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3051, "end_frame": 3337, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3337, "end_frame": 3671, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3671, "end_frame": 3845, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3845, "end_frame": 4131, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679910, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 287, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 287, "end_frame": 468, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 468, "end_frame": 653, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 653, "end_frame": 952, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 952, "end_frame": 1264, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1264, "end_frame": 1555, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1555, "end_frame": 2069, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2069, "end_frame": 2309, "action_text": "Place 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} ], "key_frame": [] } }, { "episode_id": 679940, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 343, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 343, "end_frame": 524, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 524, "end_frame": 714, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 714, "end_frame": 1007, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1007, "end_frame": 1342, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { 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3374, "end_frame": 3736, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3736, "end_frame": 3898, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3898, "end_frame": 4183, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679964, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 342, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 342, "end_frame": 522, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { 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2714, "end_frame": 2871, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2871, "end_frame": 3173, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3173, "end_frame": 3398, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3398, "end_frame": 3717, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3717, "end_frame": 3879, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3879, "end_frame": 4131, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680017, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the 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"start_frame": 3652, "end_frame": 3907, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680039, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 275, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 275, "end_frame": 439, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 439, "end_frame": 624, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 624, "end_frame": 882, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 882, "end_frame": 1201, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1201, "end_frame": 1450, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1450, "end_frame": 2036, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2036, "end_frame": 2281, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2281, "end_frame": 2470, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2470, "end_frame": 2625, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2625, "end_frame": 2914, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { 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"end_frame": 2574, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2574, "end_frame": 2734, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2734, "end_frame": 3056, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3056, "end_frame": 3328, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3328, "end_frame": 3689, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3689, "end_frame": 3836, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3836, "end_frame": 4117, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680227, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 295, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 295, "end_frame": 464, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 464, "end_frame": 582, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 582, "end_frame": 932, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 932, "end_frame": 1244, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1244, "end_frame": 1484, "action_text": "Grab the cup brush from the storage box on the counter with the right 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} ], "key_frame": [] } }, { "episode_id": 680313, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 283, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 283, "end_frame": 422, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 422, "end_frame": 545, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 545, "end_frame": 804, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 804, "end_frame": 1110, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { 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2933, "end_frame": 3252, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3252, "end_frame": 3415, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3415, "end_frame": 3662, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680342, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 300, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 300, "end_frame": 461, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { 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"start_frame": 3544, "end_frame": 3804, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680400, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 282, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 282, "end_frame": 461, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 461, "end_frame": 651, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 651, "end_frame": 910, "action_text": "Turn on the faucet with the right arm.", "skill": 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"Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 272, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 272, "end_frame": 425, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 425, "end_frame": 581, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 581, "end_frame": 839, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 839, "end_frame": 1159, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1159, "end_frame": 1391, "action_text": "Grab the cup brush from the storage box on the counter with the right 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"end_frame": 3138, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3138, "end_frame": 3371, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680485, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 242, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 242, "end_frame": 398, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 398, "end_frame": 554, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 554, "end_frame": 761, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 761, "end_frame": 1014, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1014, "end_frame": 1263, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1263, "end_frame": 1650, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1650, "end_frame": 1868, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1868, "end_frame": 2034, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2034, "end_frame": 2138, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { 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} ], "key_frame": [] } }, { "episode_id": 680500, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 221, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 221, "end_frame": 356, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 356, "end_frame": 521, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 521, "end_frame": 725, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 725, "end_frame": 1001, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { 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2500, "end_frame": 2752, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2752, "end_frame": 2890, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2890, "end_frame": 3101, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683730, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 324, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 324, "end_frame": 489, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { 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392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 304, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 304, "end_frame": 509, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 509, "end_frame": 677, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 677, "end_frame": 985, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 985, "end_frame": 1317, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1317, "end_frame": 1630, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1630, "end_frame": 2237, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2237, "end_frame": 2564, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2564, "end_frame": 2788, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2788, "end_frame": 2970, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2970, "end_frame": 3260, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3260, "end_frame": 3535, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3535, "end_frame": 3881, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3881, "end_frame": 4049, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 4049, "end_frame": 4320, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683866, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 333, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 333, "end_frame": 519, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 519, "end_frame": 701, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 701, "end_frame": 1042, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1042, "end_frame": 1315, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1315, "end_frame": 1648, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1648, "end_frame": 2340, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2340, "end_frame": 2664, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2664, "end_frame": 2859, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2859, "end_frame": 3032, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 3032, "end_frame": 3365, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3365, "end_frame": 3646, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3646, "end_frame": 3931, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3931, "end_frame": 4044, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 4044, "end_frame": 4364, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683881, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 335, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 335, "end_frame": 571, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 571, "end_frame": 735, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 735, "end_frame": 996, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 996, "end_frame": 1373, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1373, "end_frame": 1672, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1672, "end_frame": 2253, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2253, "end_frame": 2555, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2555, "end_frame": 2773, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2773, "end_frame": 2937, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2937, "end_frame": 3263, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3263, "end_frame": 3500, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3500, "end_frame": 3789, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3789, "end_frame": 4035, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 4035, "end_frame": 4291, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683896, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 307, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 307, "end_frame": 494, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 494, "end_frame": 658, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 658, "end_frame": 974, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 974, "end_frame": 1263, "action_text": "Turn 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"action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2310, "end_frame": 2610, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2610, "end_frame": 2835, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2835, "end_frame": 3000, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 3000, "end_frame": 3373, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3373, "end_frame": 3620, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3620, "end_frame": 3892, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3892, "end_frame": 4112, "action_text": "Empty the water from the water cup 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"task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 330, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 330, "end_frame": 520, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 520, "end_frame": 733, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 733, "end_frame": 991, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 991, "end_frame": 1325, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1325, "end_frame": 1642, "action_text": "Grab the cup 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cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684064, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 303, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 303, "end_frame": 463, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 463, "end_frame": 653, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 653, "end_frame": 887, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 887, "end_frame": 1181, "action_text": "Turn 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"task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 315, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 315, "end_frame": 495, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 495, "end_frame": 671, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 671, "end_frame": 919, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 919, "end_frame": 1221, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1221, "end_frame": 1494, "action_text": "Grab the cup 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with the right arm.", "skill": "Push" }, { "start_frame": 3405, "end_frame": 3746, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3746, "end_frame": 3923, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3923, "end_frame": 4191, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684312, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 307, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 307, "end_frame": 490, "action_text": "Empty the water from 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containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 365, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 365, "end_frame": 566, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 566, "end_frame": 752, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 752, "end_frame": 1075, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1075, "end_frame": 1431, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1431, "end_frame": 1804, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1804, "end_frame": 2340, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2340, "end_frame": 2561, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2561, "end_frame": 2755, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2755, "end_frame": 2930, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2930, "end_frame": 3207, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3207, "end_frame": 3447, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3447, "end_frame": 3770, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3770, "end_frame": 3927, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3927, "end_frame": 4204, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684365, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 348, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 348, "end_frame": 536, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 536, "end_frame": 682, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 682, "end_frame": 947, "action_text": "Turn 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"skill": "Place" }, { "start_frame": 2502, "end_frame": 2737, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2737, "end_frame": 2899, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2899, "end_frame": 3171, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3171, "end_frame": 3406, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3406, "end_frame": 3748, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3748, "end_frame": 3886, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3886, "end_frame": 4223, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684422, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 301, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 301, "end_frame": 487, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 487, "end_frame": 669, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 669, "end_frame": 958, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 958, "end_frame": 1264, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1264, "end_frame": 1540, "action_text": "Grab the cup 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cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684522, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 254, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 254, "end_frame": 397, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 397, "end_frame": 590, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 590, "end_frame": 856, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 856, "end_frame": 1159, "action_text": "Turn 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"action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2006, "end_frame": 2198, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2198, "end_frame": 2387, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2387, "end_frame": 2494, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2494, "end_frame": 2760, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2760, "end_frame": 3015, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3015, "end_frame": 3314, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3314, "end_frame": 3433, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3433, "end_frame": 3773, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684675, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 310, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 310, "end_frame": 497, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 497, "end_frame": 635, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 635, "end_frame": 905, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 905, "end_frame": 1220, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1220, "end_frame": 1535, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1535, "end_frame": 2115, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2115, "end_frame": 2312, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2312, "end_frame": 2494, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2494, "end_frame": 2602, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2602, "end_frame": 2883, "action_text": "Turn on the faucet 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"skill": "Place" }, { "start_frame": 2293, "end_frame": 2461, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2461, "end_frame": 2595, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2595, "end_frame": 2962, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2962, "end_frame": 3247, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3247, "end_frame": 3558, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3558, "end_frame": 3735, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3735, "end_frame": 4016, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684750, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 263, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 263, "end_frame": 423, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 423, "end_frame": 588, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 588, "end_frame": 826, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 826, "end_frame": 1171, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1171, "end_frame": 1504, "action_text": "Grab the cup 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"skill": "Place" }, { "start_frame": 2275, "end_frame": 2518, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2518, "end_frame": 2654, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2654, "end_frame": 2940, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2940, "end_frame": 3225, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3225, "end_frame": 3507, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3507, "end_frame": 3639, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3639, "end_frame": 3954, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684947, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 318, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 318, "end_frame": 459, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 459, "end_frame": 645, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 645, "end_frame": 858, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 858, "end_frame": 1180, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1180, "end_frame": 1567, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1567, "end_frame": 2081, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2081, "end_frame": 2280, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2280, "end_frame": 2497, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2497, "end_frame": 2611, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2611, "end_frame": 2934, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2934, "end_frame": 3142, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3142, "end_frame": 3456, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3456, "end_frame": 3596, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3596, "end_frame": 3928, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684971, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 309, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 309, "end_frame": 457, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 457, "end_frame": 618, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 618, "end_frame": 885, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 885, "end_frame": 1252, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1252, "end_frame": 1565, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1565, "end_frame": 2071, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2071, "end_frame": 2252, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2252, "end_frame": 2442, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2442, "end_frame": 2606, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2606, "end_frame": 2911, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2911, "end_frame": 3100, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3100, "end_frame": 3421, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3421, "end_frame": 3533, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3533, "end_frame": 3825, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685011, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 263, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 263, "end_frame": 400, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 400, "end_frame": 572, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 572, "end_frame": 807, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 807, "end_frame": 1105, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1105, "end_frame": 1409, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1409, "end_frame": 1947, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1947, "end_frame": 2159, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2159, "end_frame": 2337, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2337, "end_frame": 2472, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2472, "end_frame": 2755, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2755, "end_frame": 2954, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2954, "end_frame": 3229, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3229, "end_frame": 3342, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3342, "end_frame": 3652, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685050, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 311, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 311, "end_frame": 471, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 471, "end_frame": 622, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 622, "end_frame": 915, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 915, "end_frame": 1257, "action_text": "Turn 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containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 300, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 300, "end_frame": 428, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 428, "end_frame": 540, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 540, "end_frame": 777, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 777, "end_frame": 1053, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1053, "end_frame": 1341, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1341, "end_frame": 1918, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1918, "end_frame": 2162, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2162, "end_frame": 2326, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2326, "end_frame": 2438, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2438, "end_frame": 2722, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2722, "end_frame": 2954, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2954, "end_frame": 3279, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3279, "end_frame": 3439, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3439, "end_frame": 3675, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685114, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 256, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 256, "end_frame": 382, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 382, "end_frame": 489, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 489, "end_frame": 780, "action_text": "Turn 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"skill": "Place" }, { "start_frame": 2514, "end_frame": 2714, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2714, "end_frame": 2831, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2831, "end_frame": 3096, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3096, "end_frame": 3287, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3287, "end_frame": 3617, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3617, "end_frame": 3774, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3774, "end_frame": 4034, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685157, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 297, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 297, "end_frame": 475, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 475, "end_frame": 627, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 627, "end_frame": 844, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 844, "end_frame": 1153, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1153, "end_frame": 1428, "action_text": "Grab the cup 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water cup.", "skill": "Shake" }, { "start_frame": 3455, "end_frame": 3616, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3616, "end_frame": 3917, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685184, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 299, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 299, "end_frame": 456, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 456, "end_frame": 669, "action_text": "Place the 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countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 307, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 307, "end_frame": 460, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 460, "end_frame": 635, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 635, "end_frame": 894, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 894, "end_frame": 1209, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1209, "end_frame": 1564, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1564, "end_frame": 2169, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { 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cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685239, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 323, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 323, "end_frame": 474, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 474, "end_frame": 629, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 629, "end_frame": 875, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 875, "end_frame": 1207, "action_text": "Turn 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"task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 242, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 242, "end_frame": 375, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 375, "end_frame": 477, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 477, "end_frame": 676, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 676, "end_frame": 993, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 993, "end_frame": 1286, "action_text": "Grab the cup brush 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"start_frame": 1919, "end_frame": 2180, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2180, "end_frame": 2341, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2341, "end_frame": 2442, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2442, "end_frame": 2687, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2687, "end_frame": 2893, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2893, "end_frame": 3222, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3222, "end_frame": 3311, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3311, "end_frame": 3697, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685500, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 282, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 282, "end_frame": 423, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 423, "end_frame": 552, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 552, "end_frame": 794, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 794, "end_frame": 1084, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1084, "end_frame": 1366, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1366, "end_frame": 1934, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1934, "end_frame": 2232, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2232, "end_frame": 2381, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2381, "end_frame": 2506, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2506, "end_frame": 2752, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2752, "end_frame": 3006, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3006, "end_frame": 3324, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3324, "end_frame": 3449, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3449, "end_frame": 3707, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685528, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 271, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 271, "end_frame": 414, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 414, "end_frame": 529, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 529, "end_frame": 768, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 768, "end_frame": 1059, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1059, "end_frame": 1330, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1330, "end_frame": 1939, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1939, "end_frame": 2198, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2198, "end_frame": 2361, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2361, "end_frame": 2476, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2476, "end_frame": 2751, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2751, "end_frame": 3018, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3018, "end_frame": 3261, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3261, "end_frame": 3400, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3400, "end_frame": 3663, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685552, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 262, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 262, "end_frame": 391, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 391, "end_frame": 532, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 532, "end_frame": 811, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 811, "end_frame": 1085, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1085, "end_frame": 1359, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1359, "end_frame": 1944, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1944, "end_frame": 2182, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2182, "end_frame": 2339, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2339, "end_frame": 2469, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2469, "end_frame": 2719, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2719, "end_frame": 2985, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2985, "end_frame": 3295, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3295, "end_frame": 3433, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3433, "end_frame": 3707, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685568, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 284, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 284, "end_frame": 421, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 421, "end_frame": 551, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 551, "end_frame": 781, "action_text": "Turn 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"skill": "Place" }, { "start_frame": 2297, "end_frame": 2447, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2447, "end_frame": 2556, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2556, "end_frame": 2814, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2814, "end_frame": 3024, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3024, "end_frame": 3323, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3323, "end_frame": 3440, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3440, "end_frame": 3694, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685615, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 277, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 277, "end_frame": 405, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 405, "end_frame": 546, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 546, "end_frame": 786, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 786, "end_frame": 1123, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1123, "end_frame": 1388, "action_text": "Grab the cup 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"start_frame": 1989, "end_frame": 2217, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2217, "end_frame": 2384, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2384, "end_frame": 2510, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2510, "end_frame": 2726, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2726, "end_frame": 2953, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2953, "end_frame": 3328, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3328, "end_frame": 3470, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3470, "end_frame": 3730, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685709, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 252, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 252, "end_frame": 361, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 361, "end_frame": 535, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 535, "end_frame": 757, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 757, "end_frame": 1063, "action_text": "Turn 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the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 445, "end_frame": 568, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 568, "end_frame": 836, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 836, "end_frame": 1182, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1182, "end_frame": 1454, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1454, "end_frame": 1986, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1986, "end_frame": 2245, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2245, "end_frame": 2389, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2389, "end_frame": 2529, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2529, "end_frame": 2776, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2776, "end_frame": 3044, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3044, "end_frame": 3349, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3349, "end_frame": 3497, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3497, "end_frame": 3782, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685755, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 271, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 271, "end_frame": 393, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 393, "end_frame": 527, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 527, "end_frame": 757, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 757, "end_frame": 1077, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1077, "end_frame": 1345, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1345, "end_frame": 1964, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1964, "end_frame": 2183, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2183, "end_frame": 2317, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2317, "end_frame": 2418, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2418, "end_frame": 2673, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2673, "end_frame": 2920, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2920, "end_frame": 3269, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3269, "end_frame": 3427, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3427, "end_frame": 3730, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685832, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 285, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 285, "end_frame": 403, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 403, "end_frame": 557, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 557, "end_frame": 814, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 814, "end_frame": 1115, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1115, "end_frame": 1347, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1347, "end_frame": 2002, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2002, "end_frame": 2271, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2271, "end_frame": 2482, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2482, "end_frame": 2633, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2633, "end_frame": 2857, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2857, "end_frame": 3093, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3093, "end_frame": 3381, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3381, "end_frame": 3516, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3516, "end_frame": 3784, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685853, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 289, "action_text": "Lift the object on the table 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"skill": "Place" }, { "start_frame": 2309, "end_frame": 2478, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2478, "end_frame": 2597, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2597, "end_frame": 2865, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2865, "end_frame": 3092, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3092, "end_frame": 3385, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3385, "end_frame": 3525, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3525, "end_frame": 3813, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685877, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 274, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 274, "end_frame": 396, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 396, "end_frame": 544, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 544, "end_frame": 793, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 793, "end_frame": 1063, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1063, "end_frame": 1349, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1349, "end_frame": 1952, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1952, "end_frame": 2222, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2222, "end_frame": 2399, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2399, "end_frame": 2560, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2560, "end_frame": 2846, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2846, "end_frame": 3104, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3104, "end_frame": 3470, "action_text": "Swing the left arm holding 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"start_frame": 2145, "end_frame": 2435, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2435, "end_frame": 2619, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2619, "end_frame": 2756, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2756, "end_frame": 3059, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3059, "end_frame": 3292, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3292, "end_frame": 3652, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3652, "end_frame": 3815, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3815, "end_frame": 4039, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686002, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 312, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 312, "end_frame": 453, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 453, "end_frame": 575, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 575, "end_frame": 749, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 749, "end_frame": 1053, "action_text": "Turn 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containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 296, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 296, "end_frame": 510, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 510, "end_frame": 626, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 626, "end_frame": 917, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 917, "end_frame": 1295, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1295, "end_frame": 1595, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1595, "end_frame": 2246, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2246, "end_frame": 2435, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2435, "end_frame": 2624, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2624, "end_frame": 2761, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2761, "end_frame": 3005, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 3005, "end_frame": 3254, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3254, "end_frame": 3592, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3592, "end_frame": 3760, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3760, "end_frame": 3944, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686137, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 280, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 280, "end_frame": 430, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 430, "end_frame": 563, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 563, "end_frame": 781, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 781, "end_frame": 1056, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1056, "end_frame": 1382, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1382, "end_frame": 2041, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2041, "end_frame": 2271, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2271, "end_frame": 2458, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2458, "end_frame": 2592, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2592, "end_frame": 2859, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2859, "end_frame": 3093, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3093, "end_frame": 3431, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3431, "end_frame": 3594, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3594, "end_frame": 3840, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686172, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 275, "action_text": "Lift the object on the table 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"skill": "Place" }, { "start_frame": 2259, "end_frame": 2444, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2444, "end_frame": 2571, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2571, "end_frame": 2842, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2842, "end_frame": 3079, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3079, "end_frame": 3383, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3383, "end_frame": 3531, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3531, "end_frame": 3772, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686246, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 270, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 270, "end_frame": 440, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 440, "end_frame": 577, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 577, "end_frame": 825, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 825, "end_frame": 1099, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1099, "end_frame": 1389, "action_text": "Grab the cup 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water cup.", "skill": "Shake" }, { "start_frame": 3414, "end_frame": 3579, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3579, "end_frame": 3816, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686273, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 282, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 282, "end_frame": 432, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 432, "end_frame": 560, "action_text": "Place the 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"start_frame": 1990, "end_frame": 2211, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2211, "end_frame": 2383, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2383, "end_frame": 2539, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2539, "end_frame": 2773, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2773, "end_frame": 3018, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3018, "end_frame": 3387, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3387, "end_frame": 3542, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3542, "end_frame": 3759, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686321, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 306, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 306, "end_frame": 452, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 452, "end_frame": 577, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 577, "end_frame": 836, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 836, "end_frame": 1189, "action_text": "Turn 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"action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 2035, "end_frame": 2233, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2233, "end_frame": 2402, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2402, "end_frame": 2530, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2530, "end_frame": 2794, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2794, "end_frame": 3016, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 3016, "end_frame": 3375, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 3375, "end_frame": 3564, "action_text": "Empty the water from the water cup 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"task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 291, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 291, "end_frame": 443, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 443, "end_frame": 570, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 570, "end_frame": 810, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 810, "end_frame": 1125, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1125, "end_frame": 1396, "action_text": "Grab the cup 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"end_frame": 3897, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681821, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 307, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 307, "end_frame": 583, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 583, "end_frame": 685, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 685, "end_frame": 905, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { 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} ], "key_frame": [] } }, { "episode_id": 682054, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 320, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 320, "end_frame": 492, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 492, "end_frame": 639, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 639, "end_frame": 965, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 965, "end_frame": 1073, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { 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"start_frame": 442, "end_frame": 638, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 638, "end_frame": 893, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 893, "end_frame": 956, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 956, "end_frame": 1086, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1086, "end_frame": 1426, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1426, "end_frame": 1548, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1548, "end_frame": 1758, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1758, "end_frame": 1932, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1932, "end_frame": 2164, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2164, "end_frame": 2316, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2316, "end_frame": 2479, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2479, "end_frame": 2653, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2653, "end_frame": 2836, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682131, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 281, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 281, "end_frame": 443, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 443, "end_frame": 613, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 613, "end_frame": 886, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 886, "end_frame": 1023, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1023, "end_frame": 1161, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1161, "end_frame": 1515, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1515, "end_frame": 1642, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1642, "end_frame": 1854, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1854, "end_frame": 2027, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2027, "end_frame": 2222, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2222, "end_frame": 2393, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2393, "end_frame": 2519, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2519, "end_frame": 2643, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2643, "end_frame": 2924, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682154, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 276, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 276, "end_frame": 468, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 468, "end_frame": 703, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 703, "end_frame": 901, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 901, "end_frame": 973, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 973, "end_frame": 1102, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1102, "end_frame": 1441, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1441, "end_frame": 1582, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1582, "end_frame": 1816, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1816, "end_frame": 1937, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1937, "end_frame": 2135, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2135, "end_frame": 2251, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2251, "end_frame": 2400, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2400, "end_frame": 2549, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2549, "end_frame": 2816, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682198, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 289, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { 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"end_frame": 1832, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1832, "end_frame": 1981, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1981, "end_frame": 2179, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2179, "end_frame": 2292, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2292, "end_frame": 2446, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2446, "end_frame": 2674, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2674, "end_frame": 2891, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682221, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 325, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 325, "end_frame": 487, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 487, "end_frame": 655, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 655, "end_frame": 851, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 851, "end_frame": 967, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 967, "end_frame": 1093, "action_text": "Grab the cup brush from the storage box on the counter with the right 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"end_frame": 2503, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2503, "end_frame": 2759, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682246, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 272, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 272, "end_frame": 471, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 471, "end_frame": 597, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 597, "end_frame": 804, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 804, "end_frame": 990, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 990, "end_frame": 1112, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1112, "end_frame": 1442, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1442, "end_frame": 1580, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1580, "end_frame": 1805, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1805, "end_frame": 1902, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1902, "end_frame": 2094, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2094, "end_frame": 2295, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2295, "end_frame": 2469, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2469, "end_frame": 2595, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2595, "end_frame": 2766, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682272, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 265, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 265, "end_frame": 494, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 494, "end_frame": 613, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 613, "end_frame": 883, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 883, "end_frame": 1021, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1021, "end_frame": 1126, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1126, "end_frame": 1468, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1468, "end_frame": 1592, "action_text": "Place 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} ], "key_frame": [] } }, { "episode_id": 682386, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 287, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 287, "end_frame": 499, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 499, "end_frame": 628, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 628, "end_frame": 857, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 857, "end_frame": 954, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 954, "end_frame": 1083, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1083, "end_frame": 1458, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1458, "end_frame": 1579, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1579, "end_frame": 1847, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1847, "end_frame": 1932, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1932, "end_frame": 2092, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2092, "end_frame": 2194, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2194, "end_frame": 2337, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2337, "end_frame": 2464, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2464, "end_frame": 2778, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682410, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 295, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 295, "end_frame": 487, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { 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"end_frame": 1906, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1906, "end_frame": 2118, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2118, "end_frame": 2252, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2252, "end_frame": 2393, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2393, "end_frame": 2531, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2531, "end_frame": 2710, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682425, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the 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2491, "end_frame": 2655, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682441, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 257, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 257, "end_frame": 450, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 450, "end_frame": 582, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 582, "end_frame": 797, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { 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"task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 281, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 281, "end_frame": 405, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 405, "end_frame": 499, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 499, "end_frame": 802, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 802, "end_frame": 890, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 890, "end_frame": 1041, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1041, "end_frame": 1355, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1355, "end_frame": 1581, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1581, "end_frame": 1793, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1793, "end_frame": 1895, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1895, "end_frame": 2118, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2118, "end_frame": 2264, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2264, "end_frame": 2429, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2429, "end_frame": 2564, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2564, "end_frame": 2840, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682777, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 270, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 270, "end_frame": 425, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 425, "end_frame": 549, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 549, "end_frame": 899, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 899, "end_frame": 1078, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1078, "end_frame": 1208, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1208, "end_frame": 1561, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1561, "end_frame": 1732, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1732, "end_frame": 1986, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1986, "end_frame": 2074, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2074, "end_frame": 2292, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2292, "end_frame": 2391, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2391, "end_frame": 2568, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2568, "end_frame": 2711, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2711, "end_frame": 2951, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682800, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage 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"start_frame": 1225, "end_frame": 1442, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1442, "end_frame": 1638, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1638, "end_frame": 1723, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1723, "end_frame": 1943, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1943, "end_frame": 2059, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2059, "end_frame": 2246, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2246, "end_frame": 2373, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2373, "end_frame": 2541, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682819, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 234, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 234, "end_frame": 380, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 380, "end_frame": 446, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 446, "end_frame": 661, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 661, "end_frame": 743, "action_text": "Turn 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small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 217, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 217, "end_frame": 336, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 336, "end_frame": 435, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 435, "end_frame": 680, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 680, "end_frame": 779, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 779, "end_frame": 889, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 889, "end_frame": 1216, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1216, "end_frame": 1431, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1431, "end_frame": 1626, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1626, "end_frame": 1711, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1711, "end_frame": 1909, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1909, "end_frame": 2061, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2061, "end_frame": 2234, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2234, "end_frame": 2297, "action_text": "Empty the water from the water cup held in the left 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"skill": "Pull" }, { "start_frame": 2005, "end_frame": 2110, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2110, "end_frame": 2292, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2292, "end_frame": 2405, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2405, "end_frame": 2612, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682990, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 212, "action_text": "Lift the object on the table with the left arm.", 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"start_frame": 1404, "end_frame": 1536, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1536, "end_frame": 1621, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1621, "end_frame": 1855, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1855, "end_frame": 1954, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1954, "end_frame": 2095, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2095, "end_frame": 2158, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2158, "end_frame": 2315, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683012, "task_id": 392, "task_name": "Brush water 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{ "start_frame": 2056, "end_frame": 2136, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2136, "end_frame": 2340, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683036, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 267, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 267, "end_frame": 385, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 385, "end_frame": 490, "action_text": "Place the water cup held in the left arm under 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"Hold" }, { "start_frame": 1685, "end_frame": 1968, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1968, "end_frame": 2067, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2067, "end_frame": 2205, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2205, "end_frame": 2337, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2337, "end_frame": 2511, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683062, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 280, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 280, "end_frame": 398, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 398, "end_frame": 499, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 499, "end_frame": 733, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 733, "end_frame": 826, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 826, "end_frame": 979, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 979, "end_frame": 1248, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1248, "end_frame": 1410, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1410, "end_frame": 1564, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1564, "end_frame": 1654, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1654, "end_frame": 1860, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1860, "end_frame": 2006, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2006, "end_frame": 2170, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2170, "end_frame": 2280, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2280, "end_frame": 2480, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683109, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 236, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 236, "end_frame": 342, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 342, "end_frame": 431, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 431, "end_frame": 696, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 696, "end_frame": 785, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 785, "end_frame": 921, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 921, "end_frame": 1235, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1235, "end_frame": 1422, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1422, "end_frame": 1561, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1561, "end_frame": 1661, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1661, "end_frame": 1842, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1842, "end_frame": 1973, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1973, "end_frame": 2134, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2134, "end_frame": 2209, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2209, "end_frame": 2412, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683133, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 278, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 278, "end_frame": 407, "action_text": "Empty the water from the water cup held in the left arm.", 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"start_frame": 1524, "end_frame": 1582, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1582, "end_frame": 1794, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1794, "end_frame": 1893, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1893, "end_frame": 2017, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2017, "end_frame": 2118, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2118, "end_frame": 2305, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683159, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid 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"start_frame": 2133, "end_frame": 2314, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683261, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 240, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 240, "end_frame": 366, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 366, "end_frame": 476, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 476, "end_frame": 688, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 688, "end_frame": 774, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 774, "end_frame": 917, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 917, "end_frame": 1148, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1148, "end_frame": 1313, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1313, "end_frame": 1443, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1443, "end_frame": 1517, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1517, "end_frame": 1691, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { 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"end_frame": 1685, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1685, "end_frame": 1785, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1785, "end_frame": 2020, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2020, "end_frame": 2167, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2167, "end_frame": 2299, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2299, "end_frame": 2458, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2458, "end_frame": 2619, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683390, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 240, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 240, "end_frame": 403, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 403, "end_frame": 516, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 516, "end_frame": 736, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 736, "end_frame": 827, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 827, "end_frame": 965, "action_text": "Grab the cup brush from the storage box on the counter with the right 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"end_frame": 2234, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2234, "end_frame": 2399, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683420, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 240, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 240, "end_frame": 397, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 397, "end_frame": 513, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 513, "end_frame": 756, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 756, "end_frame": 863, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 863, "end_frame": 985, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 985, "end_frame": 1249, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1249, "end_frame": 1445, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1445, "end_frame": 1655, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1655, "end_frame": 1732, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { 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], "key_frame": [] } }, { "episode_id": 683475, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 259, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 259, "end_frame": 490, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 490, "end_frame": 636, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 636, "end_frame": 845, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 845, "end_frame": 941, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { 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2209, "end_frame": 2380, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2380, "end_frame": 2608, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2608, "end_frame": 2792, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683549, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 275, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 275, "end_frame": 454, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 454, "end_frame": 556, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 556, "end_frame": 787, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 787, "end_frame": 897, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 897, "end_frame": 1034, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1034, "end_frame": 1312, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1312, "end_frame": 1477, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1477, "end_frame": 1717, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1717, "end_frame": 1813, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1813, "end_frame": 1975, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1975, "end_frame": 2094, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2094, "end_frame": 2226, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2226, "end_frame": 2349, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2349, "end_frame": 2520, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683582, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the 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2169, "end_frame": 2343, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686638, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 245, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 245, "end_frame": 392, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 392, "end_frame": 502, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 502, "end_frame": 792, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 792, "end_frame": 883, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 883, "end_frame": 1009, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1009, "end_frame": 1398, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1398, "end_frame": 1586, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1586, "end_frame": 1754, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1754, "end_frame": 1873, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1873, "end_frame": 2162, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2162, "end_frame": 2270, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2270, "end_frame": 2399, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2399, "end_frame": 2526, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2526, "end_frame": 2719, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686655, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 262, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 262, "end_frame": 402, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 402, "end_frame": 519, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 519, "end_frame": 789, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 789, "end_frame": 898, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 898, "end_frame": 1032, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1032, "end_frame": 1379, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1379, "end_frame": 1550, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1550, "end_frame": 1775, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1775, "end_frame": 1892, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1892, "end_frame": 2097, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2097, "end_frame": 2211, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2211, "end_frame": 2394, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2394, "end_frame": 2508, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2508, "end_frame": 2710, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686721, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: 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"Pick" }, { "start_frame": 1065, "end_frame": 1419, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1419, "end_frame": 1623, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1623, "end_frame": 1792, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1792, "end_frame": 1927, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1927, "end_frame": 2149, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2149, "end_frame": 2262, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2262, "end_frame": 2420, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2420, "end_frame": 2514, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2514, "end_frame": 2713, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686768, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 260, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 260, "end_frame": 387, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 387, "end_frame": 506, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { 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[] } }, { "episode_id": 686817, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 247, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 247, "end_frame": 399, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 399, "end_frame": 555, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 555, "end_frame": 806, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 806, "end_frame": 931, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 931, 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2487, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2487, "end_frame": 2696, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2696, "end_frame": 2909, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686833, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 15, "end_frame": 235, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 235, "end_frame": 444, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 444, "end_frame": 546, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 546, "end_frame": 822, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 822, "end_frame": 950, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 950, "end_frame": 1123, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1123, "end_frame": 1491, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1491, "end_frame": 1659, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1659, "end_frame": 1930, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1930, "end_frame": 2048, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2048, "end_frame": 2323, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2323, "end_frame": 2512, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2512, "end_frame": 2701, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2701, "end_frame": 2916, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2916, "end_frame": 3110, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686860, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 5, "end_frame": 230, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 230, "end_frame": 430, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 430, "end_frame": 557, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 557, "end_frame": 813, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 813, "end_frame": 920, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 920, "end_frame": 1105, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1105, "end_frame": 1442, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1442, "end_frame": 1693, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1693, "end_frame": 1994, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1994, "end_frame": 2086, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2086, "end_frame": 2327, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2327, "end_frame": 2419, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2419, "end_frame": 2598, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2598, "end_frame": 2802, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2802, "end_frame": 3073, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686894, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 256, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 256, "end_frame": 391, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 391, "end_frame": 532, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 532, "end_frame": 851, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 851, "end_frame": 964, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 964, "end_frame": 1121, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1121, "end_frame": 1501, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1501, "end_frame": 1683, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1683, "end_frame": 1848, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1848, "end_frame": 1964, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1964, "end_frame": 2198, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2198, "end_frame": 2314, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2314, "end_frame": 2553, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2553, "end_frame": 2705, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2705, "end_frame": 2892, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686912, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 240, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 240, "end_frame": 375, 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"action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2438, "end_frame": 2674, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687350, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 265, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 265, "end_frame": 455, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 455, "end_frame": 582, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { 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[] } }, { "episode_id": 687468, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 241, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 241, "end_frame": 364, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 364, "end_frame": 480, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 480, "end_frame": 688, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 688, "end_frame": 773, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 773, 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"action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2300, "end_frame": 2457, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2457, "end_frame": 2648, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687493, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 276, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 276, "end_frame": 414, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 414, 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"action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687575, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 270, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 270, "end_frame": 439, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 439, "end_frame": 571, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 571, "end_frame": 797, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 797, "end_frame": 930, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 930, "end_frame": 1128, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1128, "end_frame": 1548, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1548, "end_frame": 1741, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1741, "end_frame": 1920, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1920, "end_frame": 2036, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2036, "end_frame": 2281, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2281, "end_frame": 2408, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2408, "end_frame": 2557, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2557, "end_frame": 2679, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2679, "end_frame": 2861, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687598, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 240, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 240, "end_frame": 406, 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2683, "end_frame": 2865, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2865, "end_frame": 3041, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3041, "end_frame": 3305, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687849, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 297, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 297, "end_frame": 442, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { 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2907, "end_frame": 3216, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687949, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 304, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 304, "end_frame": 470, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 470, "end_frame": 594, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 594, "end_frame": 831, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { 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"action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2612, "end_frame": 2816, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688059, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 286, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 286, "end_frame": 450, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 450, "end_frame": 547, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { 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[] } }, { "episode_id": 688130, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 280, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 280, "end_frame": 453, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 453, "end_frame": 548, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 548, "end_frame": 763, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 763, "end_frame": 845, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 845, "end_frame": 1002, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1002, "end_frame": 1467, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1467, "end_frame": 1739, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1739, "end_frame": 1983, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1983, "end_frame": 2069, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2069, "end_frame": 2279, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2279, "end_frame": 2387, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2387, "end_frame": 2535, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2535, "end_frame": 2803, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2803, "end_frame": 3063, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688157, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 265, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 265, "end_frame": 470, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 470, "end_frame": 546, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 546, "end_frame": 751, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 751, "end_frame": 841, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 841, "end_frame": 995, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 995, "end_frame": 1426, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1426, "end_frame": 1716, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1716, "end_frame": 1917, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1917, "end_frame": 1964, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1964, "end_frame": 2139, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2139, "end_frame": 2267, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2267, "end_frame": 2395, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2395, "end_frame": 2562, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2562, "end_frame": 2779, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688188, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush 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"action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688251, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 284, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 284, "end_frame": 444, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 444, "end_frame": 522, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 522, "end_frame": 736, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 736, 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"action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2164, "end_frame": 2303, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2303, "end_frame": 2526, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2526, "end_frame": 2834, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688274, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 316, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 316, "end_frame": 499, 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[] } }, { "episode_id": 688403, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 215, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 215, "end_frame": 339, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 339, "end_frame": 393, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 393, "end_frame": 604, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 604, "end_frame": 720, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 720, "end_frame": 964, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 964, "end_frame": 1366, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1366, "end_frame": 1585, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1585, "end_frame": 1779, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1779, "end_frame": 1858, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1858, "end_frame": 2048, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2048, "end_frame": 2164, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2164, "end_frame": 2305, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2305, "end_frame": 2500, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2500, "end_frame": 2719, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [ { "start": 720, "end": 964, "description": "" } ] } }, { "episode_id": 688427, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 318, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 318, "end_frame": 528, "action_text": "Empty the water from the water cup held in the left 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{ "start_frame": 2677, "end_frame": 2913, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688481, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 252, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 252, "end_frame": 439, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 439, "end_frame": 514, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 514, "end_frame": 757, "action_text": "Turn on the faucet with the right arm.", 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{ "start_frame": 2218, "end_frame": 2317, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2317, "end_frame": 2457, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2457, "end_frame": 2662, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2662, "end_frame": 2877, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688517, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 313, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, 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"Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 269, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 269, "end_frame": 446, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 446, "end_frame": 525, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 525, "end_frame": 765, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 765, "end_frame": 876, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 876, "end_frame": 1017, "action_text": "Grab the cup brush from the storage box on the counter with the right 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} ], "key_frame": [] } }, { "episode_id": 688647, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 270, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 270, "end_frame": 390, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 390, "end_frame": 468, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 468, "end_frame": 696, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 696, "end_frame": 798, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 798, "end_frame": 924, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 924, "end_frame": 1296, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1296, "end_frame": 1506, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1506, "end_frame": 1656, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1656, "end_frame": 1728, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1728, "end_frame": 1938, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1938, "end_frame": 2022, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2022, "end_frame": 2130, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2130, "end_frame": 2256, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2256, "end_frame": 2423, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688703, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 293, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 293, "end_frame": 503, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 503, "end_frame": 594, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 594, "end_frame": 932, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 932, "end_frame": 1018, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1018, "end_frame": 1163, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1163, "end_frame": 1517, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1517, "end_frame": 1736, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1736, "end_frame": 1963, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1963, "end_frame": 2037, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2037, "end_frame": 2255, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2255, "end_frame": 2371, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2371, "end_frame": 2528, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2528, "end_frame": 2771, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2771, "end_frame": 2993, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688832, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 258, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 258, "end_frame": 359, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 359, "end_frame": 431, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 431, "end_frame": 650, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 650, "end_frame": 768, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 768, "end_frame": 897, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 897, "end_frame": 1317, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1317, "end_frame": 1569, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1569, "end_frame": 1754, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1754, "end_frame": 1844, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1844, "end_frame": 2017, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2017, "end_frame": 2135, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2135, "end_frame": 2258, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2258, "end_frame": 2438, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2438, "end_frame": 2707, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688855, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 281, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 281, "end_frame": 423, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 423, "end_frame": 515, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 515, "end_frame": 808, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 808, "end_frame": 904, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 904, "end_frame": 1055, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1055, "end_frame": 1499, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1499, "end_frame": 1742, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1742, "end_frame": 1922, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1922, "end_frame": 1993, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1993, "end_frame": 2219, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2219, "end_frame": 2332, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2332, "end_frame": 2441, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2441, "end_frame": 2638, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2638, "end_frame": 2906, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688877, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 288, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 288, "end_frame": 438, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 438, "end_frame": 506, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 506, "end_frame": 687, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 687, "end_frame": 790, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 790, "end_frame": 918, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 918, "end_frame": 1266, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1266, "end_frame": 1451, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1451, "end_frame": 1648, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1648, "end_frame": 1712, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1712, "end_frame": 1893, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1893, "end_frame": 2034, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2034, "end_frame": 2124, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2124, "end_frame": 2313, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2313, "end_frame": 2554, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688921, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 303, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 303, "end_frame": 420, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 420, "end_frame": 503, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 503, "end_frame": 754, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 754, "end_frame": 871, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 871, "end_frame": 1014, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1014, "end_frame": 1374, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1374, "end_frame": 1617, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1617, "end_frame": 1808, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1808, "end_frame": 1881, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1881, "end_frame": 2146, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2146, "end_frame": 2245, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2245, "end_frame": 2354, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2354, "end_frame": 2523, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2523, "end_frame": 2735, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688972, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 286, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 286, "end_frame": 424, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 424, "end_frame": 500, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 500, "end_frame": 692, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 692, "end_frame": 777, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 777, "end_frame": 888, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 888, "end_frame": 1160, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1160, "end_frame": 1375, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1375, "end_frame": 1549, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1549, "end_frame": 1607, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1607, "end_frame": 1767, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1767, "end_frame": 1839, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1839, "end_frame": 1928, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 1928, "end_frame": 2075, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2075, "end_frame": 2298, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689052, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 261, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 261, "end_frame": 431, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 431, "end_frame": 495, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 495, "end_frame": 802, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 802, "end_frame": 875, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 875, "end_frame": 1022, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1022, "end_frame": 1406, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1406, "end_frame": 1617, "action_text": "Place the cup brush back 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[] } }, { "episode_id": 689079, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 263, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 263, "end_frame": 412, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 412, "end_frame": 482, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 482, "end_frame": 683, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 683, "end_frame": 770, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 770, "end_frame": 905, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 905, "end_frame": 1296, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1296, "end_frame": 1486, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1486, "end_frame": 1659, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1659, "end_frame": 1704, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1704, "end_frame": 1934, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1934, "end_frame": 2041, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2041, "end_frame": 2136, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2136, "end_frame": 2288, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2288, "end_frame": 2449, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689106, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 238, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 238, "end_frame": 367, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 367, "end_frame": 434, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 434, "end_frame": 643, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 643, "end_frame": 714, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 714, "end_frame": 827, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 827, "end_frame": 1165, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1165, "end_frame": 1341, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1341, "end_frame": 1549, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1549, "end_frame": 1625, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1625, "end_frame": 1792, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1792, "end_frame": 1867, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1867, "end_frame": 1975, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 1975, "end_frame": 2163, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2163, "end_frame": 2309, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689135, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 236, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 236, "end_frame": 386, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 386, "end_frame": 450, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 450, "end_frame": 678, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 678, "end_frame": 802, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 802, "end_frame": 944, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 944, "end_frame": 1377, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right 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"action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689183, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 305, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 305, "end_frame": 432, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 432, "end_frame": 500, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 500, "end_frame": 733, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 733, "end_frame": 800, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 800, "end_frame": 923, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 923, "end_frame": 1313, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1313, "end_frame": 1478, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1478, "end_frame": 1728, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1728, "end_frame": 1779, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1779, "end_frame": 1965, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1965, "end_frame": 2084, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2084, "end_frame": 2211, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2211, "end_frame": 2384, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2384, "end_frame": 2528, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689207, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 260, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 260, "end_frame": 420, 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392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 218, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 218, "end_frame": 354, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 354, "end_frame": 401, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 401, "end_frame": 577, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 577, "end_frame": 670, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 670, "end_frame": 794, "action_text": "Grab the cup 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"skill": "Pour" }, { "start_frame": 1374, "end_frame": 1417, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1417, "end_frame": 1589, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1589, "end_frame": 1670, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1670, "end_frame": 1792, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 1792, "end_frame": 1929, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1929, "end_frame": 2091, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689466, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 211, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 211, "end_frame": 338, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 338, "end_frame": 427, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 427, "end_frame": 583, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 583, "end_frame": 655, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 655, "end_frame": 798, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 798, "end_frame": 1018, "action_text": "Scrub 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"skill": "Pour" }, { "start_frame": 1930, "end_frame": 2065, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689481, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 240, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 240, "end_frame": 389, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 389, "end_frame": 476, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 476, "end_frame": 655, "action_text": "Turn on the faucet with the 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"Pull" }, { "start_frame": 1817, "end_frame": 1909, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1909, "end_frame": 2040, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2040, "end_frame": 2140, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2140, "end_frame": 2350, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689488, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 219, "action_text": "Lift the object on the table with the left arm.", "skill": 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"init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 215, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 215, "end_frame": 382, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 382, "end_frame": 443, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 443, "end_frame": 589, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 589, "end_frame": 666, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 666, "end_frame": 776, "action_text": "Grab the cup brush from the storage box on the counter 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}, { "start_frame": 2635, "end_frame": 2830, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2830, "end_frame": 2946, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2946, "end_frame": 3253, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692348, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 310, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 310, "end_frame": 506, "action_text": "Empty the water from the water cup held in the left arm.", 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"start_frame": 2785, "end_frame": 3106, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692410, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 325, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 325, "end_frame": 504, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 504, "end_frame": 614, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 614, "end_frame": 862, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 862, "end_frame": 976, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 976, "end_frame": 1146, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1146, "end_frame": 1476, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1476, "end_frame": 1724, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1724, "end_frame": 1980, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1980, "end_frame": 2138, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2138, "end_frame": 2350, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2350, "end_frame": 2459, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2459, "end_frame": 2626, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2626, "end_frame": 2797, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2797, "end_frame": 3073, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692450, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 323, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 323, "end_frame": 542, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 542, "end_frame": 762, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 762, "end_frame": 1068, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1068, "end_frame": 1155, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1155, "end_frame": 1337, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1337, "end_frame": 1743, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1743, "end_frame": 1917, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1917, "end_frame": 2128, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2128, "end_frame": 2273, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2273, "end_frame": 2567, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2567, "end_frame": 2687, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2687, "end_frame": 2815, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2815, "end_frame": 2960, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2960, "end_frame": 3270, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692528, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 342, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 342, "end_frame": 533, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 533, "end_frame": 643, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 643, "end_frame": 911, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 911, "end_frame": 1008, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1008, "end_frame": 1151, "action_text": "Grab the cup brush from the storage box on the counter with the right 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"Hold" }, { "start_frame": 757, "end_frame": 1016, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1016, "end_frame": 1134, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1134, "end_frame": 1316, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1316, "end_frame": 1676, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1676, "end_frame": 1849, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1849, "end_frame": 2133, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2133, "end_frame": 2319, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { 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} ], "key_frame": [] } }, { "episode_id": 692642, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 333, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 333, "end_frame": 528, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 528, "end_frame": 674, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 674, "end_frame": 918, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 918, "end_frame": 987, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { 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2473, "end_frame": 2628, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2628, "end_frame": 2754, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2754, "end_frame": 3094, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692658, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 333, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 333, "end_frame": 569, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { 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2690, "end_frame": 2980, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692693, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 338, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 338, "end_frame": 577, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 577, "end_frame": 683, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 683, "end_frame": 887, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { 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380, "end_frame": 601, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 601, "end_frame": 714, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 714, "end_frame": 945, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 945, "end_frame": 1058, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1058, "end_frame": 1248, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1248, "end_frame": 1561, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1561, "end_frame": 1715, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1715, "end_frame": 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position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 306, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 306, "end_frame": 518, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 518, "end_frame": 669, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 669, "end_frame": 922, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 922, "end_frame": 1020, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1020, "end_frame": 1187, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", 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"end_frame": 2693, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2693, "end_frame": 2999, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692741, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 329, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 329, "end_frame": 553, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 553, "end_frame": 666, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 666, "end_frame": 922, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 922, "end_frame": 1089, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1089, "end_frame": 1231, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1231, "end_frame": 1528, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1528, "end_frame": 1727, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1727, "end_frame": 1938, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1938, "end_frame": 2100, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { 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"Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2042, "end_frame": 2273, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2273, "end_frame": 2381, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2381, "end_frame": 2629, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2629, "end_frame": 2742, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2742, "end_frame": 2877, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2877, "end_frame": 3120, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3120, "end_frame": 3463, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692792, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 333, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 333, "end_frame": 606, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 606, "end_frame": 694, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 694, "end_frame": 959, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 959, "end_frame": 1064, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1064, "end_frame": 1232, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1232, "end_frame": 1628, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1628, "end_frame": 1819, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1819, "end_frame": 2035, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2035, "end_frame": 2191, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2191, "end_frame": 2448, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2448, "end_frame": 2570, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2570, "end_frame": 2746, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2746, "end_frame": 3005, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3005, "end_frame": 3307, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692806, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 64, "end_frame": 304, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 304, "end_frame": 490, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { 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"end_frame": 2045, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2045, "end_frame": 2288, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2288, "end_frame": 2438, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2438, "end_frame": 2603, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2603, "end_frame": 2834, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2834, "end_frame": 3054, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692842, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the 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"start_frame": 2918, "end_frame": 3137, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692908, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 52, "end_frame": 371, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 371, "end_frame": 684, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 684, "end_frame": 829, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 829, "end_frame": 1066, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1066, "end_frame": 1145, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1145, "end_frame": 1313, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1313, "end_frame": 1669, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1669, "end_frame": 1846, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1846, "end_frame": 2121, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2121, "end_frame": 2226, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2226, "end_frame": 2481, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" 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1781, "end_frame": 2080, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2080, "end_frame": 2279, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2279, "end_frame": 2475, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2475, "end_frame": 2565, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2565, "end_frame": 2778, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2778, "end_frame": 3072, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 3072, "end_frame": 3157, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692994, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 64, "end_frame": 314, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 314, "end_frame": 540, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 540, "end_frame": 664, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 664, "end_frame": 885, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 885, "end_frame": 994, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 994, "end_frame": 1142, "action_text": "Grab the cup brush from the storage box on the 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"start_frame": 2447, "end_frame": 2618, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2618, "end_frame": 2887, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693021, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 330, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 330, "end_frame": 607, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 607, "end_frame": 731, "action_text": "Place the water cup held in the left arm under 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"skill": "Hold" }, { "start_frame": 2275, "end_frame": 2465, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2465, "end_frame": 2586, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2586, "end_frame": 2713, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2713, "end_frame": 2902, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2902, "end_frame": 3182, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693057, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 317, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 317, "end_frame": 499, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 499, "end_frame": 655, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 655, "end_frame": 866, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 866, "end_frame": 963, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 963, "end_frame": 1121, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1121, "end_frame": 1444, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1444, "end_frame": 1609, 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table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693086, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 53, "end_frame": 323, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 323, "end_frame": 493, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 493, "end_frame": 607, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 607, "end_frame": 858, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 858, "end_frame": 973, "action_text": "Turn off the faucet with the right arm.", 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"start_frame": 2615, "end_frame": 2856, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693260, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 339, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 339, "end_frame": 491, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 491, "end_frame": 587, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 587, "end_frame": 894, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 894, "end_frame": 1042, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1042, "end_frame": 1183, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1183, "end_frame": 1495, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1495, "end_frame": 1682, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1682, "end_frame": 1906, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1906, "end_frame": 2049, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2049, "end_frame": 2377, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { 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"end_frame": 2058, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2058, "end_frame": 2179, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2179, "end_frame": 2467, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2467, "end_frame": 2566, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2566, "end_frame": 2731, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2731, "end_frame": 2833, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2833, "end_frame": 3076, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693325, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 293, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 293, "end_frame": 417, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 417, "end_frame": 533, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 533, "end_frame": 776, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 776, "end_frame": 842, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 842, "end_frame": 994, "action_text": "Grab the cup brush from the storage box on the counter with the right 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"end_frame": 2375, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2375, "end_frame": 2618, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693349, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 293, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 293, "end_frame": 439, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 439, "end_frame": 524, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": 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} ], "key_frame": [] } }, { "episode_id": 693398, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 279, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 279, "end_frame": 396, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 396, "end_frame": 494, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 494, "end_frame": 678, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 678, "end_frame": 742, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { 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1867, "end_frame": 2048, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2048, "end_frame": 2168, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2168, "end_frame": 2358, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693417, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 45, "end_frame": 334, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 334, "end_frame": 440, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { 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"action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1775, "end_frame": 2032, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2032, "end_frame": 2235, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2235, "end_frame": 2305, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2305, "end_frame": 2454, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2454, "end_frame": 2553, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2553, "end_frame": 2785, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2785, "end_frame": 2976, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2976, "end_frame": 3170, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693345, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 57, "end_frame": 333, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 333, "end_frame": 553, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 553, "end_frame": 670, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 670, "end_frame": 926, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 926, "end_frame": 1024, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1024, "end_frame": 1231, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1231, "end_frame": 1723, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1723, "end_frame": 1966, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1966, "end_frame": 2178, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2178, "end_frame": 2247, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2247, "end_frame": 2442, "action_text": "Turn on the 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"task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 73, "end_frame": 332, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 332, "end_frame": 543, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 543, "end_frame": 636, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 636, "end_frame": 875, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 875, "end_frame": 948, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 948, "end_frame": 1139, "action_text": "Grab the cup 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cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693565, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 66, "end_frame": 322, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 322, "end_frame": 496, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 496, "end_frame": 628, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 628, "end_frame": 922, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 922, "end_frame": 1009, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1009, "end_frame": 1223, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1223, "end_frame": 1790, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1790, "end_frame": 2030, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2030, "end_frame": 2224, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2224, "end_frame": 2302, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2302, "end_frame": 2468, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2468, "end_frame": 2567, "action_text": "Turn off the 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1652, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1652, "end_frame": 1895, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1895, "end_frame": 2068, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2068, "end_frame": 2151, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2151, "end_frame": 2377, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2377, "end_frame": 2509, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2509, "end_frame": 2703, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2703, "end_frame": 2822, "action_text": "Empty the water from the water 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"Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 786, "end_frame": 895, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 895, "end_frame": 1140, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1140, "end_frame": 1697, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1697, "end_frame": 1901, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1901, "end_frame": 2051, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2051, "end_frame": 2157, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2157, "end_frame": 2340, "action_text": "Turn on the faucet 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"skill": "Place" }, { "start_frame": 1938, "end_frame": 2131, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2131, "end_frame": 2193, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2193, "end_frame": 2390, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2390, "end_frame": 2522, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2522, "end_frame": 2781, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2781, "end_frame": 2978, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2978, "end_frame": 3188, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693758, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 65, "end_frame": 332, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 332, "end_frame": 478, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 478, "end_frame": 596, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 596, "end_frame": 867, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 867, "end_frame": 956, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 956, "end_frame": 1163, "action_text": "Grab the cup 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cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693877, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 46, "end_frame": 337, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 337, "end_frame": 516, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 516, "end_frame": 654, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 654, "end_frame": 933, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 933, "end_frame": 1012, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1012, "end_frame": 1220, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1220, "end_frame": 1732, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1732, "end_frame": 2007, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2007, "end_frame": 2190, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2190, "end_frame": 2286, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2286, "end_frame": 2506, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2506, "end_frame": 2585, "action_text": "Turn off the 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"action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1751, "end_frame": 1993, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1993, "end_frame": 2181, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2181, "end_frame": 2237, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2237, "end_frame": 2430, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2430, "end_frame": 2528, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2528, "end_frame": 2789, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2789, "end_frame": 2974, "action_text": "Empty the water from the water cup 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"task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 54, "end_frame": 297, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 297, "end_frame": 479, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 479, "end_frame": 603, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 603, "end_frame": 871, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 871, "end_frame": 962, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 962, "end_frame": 1184, "action_text": "Grab the cup 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water cup.", "skill": "Shake" }, { "start_frame": 2775, "end_frame": 2933, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2933, "end_frame": 3158, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694569, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 312, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 312, "end_frame": 513, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 513, "end_frame": 633, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 633, "end_frame": 875, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 875, "end_frame": 980, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 980, "end_frame": 1196, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1196, "end_frame": 1807, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1807, "end_frame": 2030, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2030, "end_frame": 2191, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2191, "end_frame": 2272, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2272, "end_frame": 2481, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2481, "end_frame": 2588, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2588, "end_frame": 2802, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2802, "end_frame": 2989, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2989, "end_frame": 3226, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694602, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 287, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 287, "end_frame": 513, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 513, "end_frame": 643, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 643, "end_frame": 920, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 920, "end_frame": 995, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 995, "end_frame": 1186, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1186, "end_frame": 1833, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1833, "end_frame": 2037, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2037, "end_frame": 2201, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2201, "end_frame": 2254, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2254, "end_frame": 2430, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2430, "end_frame": 2538, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2538, "end_frame": 2705, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2705, "end_frame": 2822, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2822, "end_frame": 3035, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694717, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 77, "end_frame": 310, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 310, "end_frame": 473, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 473, "end_frame": 564, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 564, "end_frame": 790, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 790, "end_frame": 872, "action_text": "Turn 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"action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1752, "end_frame": 1999, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1999, "end_frame": 2162, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2162, "end_frame": 2243, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2243, "end_frame": 2438, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2438, "end_frame": 2564, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2564, "end_frame": 2745, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2745, "end_frame": 2933, "action_text": "Empty the water from the water cup 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"Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 856, "end_frame": 939, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 939, "end_frame": 1128, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 1128, "end_frame": 1830, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1830, "end_frame": 2029, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 2029, "end_frame": 2221, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2221, "end_frame": 2307, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 2307, "end_frame": 2473, "action_text": "Turn on the faucet 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"task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 341, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 341, "end_frame": 484, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 484, "end_frame": 592, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 592, "end_frame": 866, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 866, "end_frame": 969, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 969, "end_frame": 1181, "action_text": "Grab the cup brush 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604, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 604, "end_frame": 683, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 683, "end_frame": 804, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 804, "end_frame": 1064, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1064, "end_frame": 1207, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1207, "end_frame": 1339, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1339, "end_frame": 1407, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1407, "end_frame": 1668, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1668, "end_frame": 1762, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1762, "end_frame": 1856, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 1856, "end_frame": 1962, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1962, "end_frame": 2158, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693747, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 238, "action_text": "Lift the 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right arm.", "skill": "Place" }, { "start_frame": 1353, "end_frame": 1524, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1524, "end_frame": 1610, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1610, "end_frame": 1828, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1828, "end_frame": 1910, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1910, "end_frame": 2016, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2016, "end_frame": 2168, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2168, "end_frame": 2429, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693777, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 257, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 257, "end_frame": 377, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 377, "end_frame": 472, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 472, "end_frame": 694, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 694, "end_frame": 774, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 774, "end_frame": 883, "action_text": "Grab the cup 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left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693859, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 231, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 231, "end_frame": 367, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 367, "end_frame": 438, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 438, "end_frame": 658, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 658, "end_frame": 744, "action_text": "Turn off the faucet 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"skill": "Pour" }, { "start_frame": 2160, "end_frame": 2301, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693969, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 245, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 245, "end_frame": 377, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 377, "end_frame": 445, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 445, "end_frame": 653, "action_text": "Turn on the faucet with the 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"Pull" }, { "start_frame": 1796, "end_frame": 1887, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1887, "end_frame": 2030, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2030, "end_frame": 2154, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2154, "end_frame": 2366, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693993, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 261, "action_text": "Lift the object on the table with the left arm.", "skill": 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"init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 253, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 253, "end_frame": 400, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 400, "end_frame": 487, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 487, "end_frame": 672, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 672, "end_frame": 804, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 804, "end_frame": 928, "action_text": "Grab the cup brush from the storage box on the counter 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"start_frame": 1977, "end_frame": 2132, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2132, "end_frame": 2362, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694034, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 230, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 230, "end_frame": 351, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 351, "end_frame": 412, "action_text": "Place the water cup held in the left arm under 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"start_frame": 2082, "end_frame": 2295, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694256, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 245, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 245, "end_frame": 411, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 411, "end_frame": 477, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 477, "end_frame": 736, "action_text": "Turn on the faucet with the right arm.", "skill": 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"task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 286, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 286, "end_frame": 488, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 488, "end_frame": 561, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 561, "end_frame": 798, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 798, "end_frame": 877, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 877, "end_frame": 998, "action_text": "Grab the cup brush 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held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 474, "end_frame": 729, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 729, "end_frame": 828, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 828, "end_frame": 931, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 931, "end_frame": 1275, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1275, "end_frame": 1409, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1409, "end_frame": 1646, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1646, "end_frame": 1708, "action_text": "Place the water cup held in the left arm 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"label_info": { "action_config": [ { "start_frame": 0, "end_frame": 295, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 295, "end_frame": 495, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 495, "end_frame": 594, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 594, "end_frame": 787, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 787, "end_frame": 886, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 886, "end_frame": 993, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 993, "end_frame": 1326, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1326, "end_frame": 1467, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1467, "end_frame": 1683, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1683, "end_frame": 1756, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1756, "end_frame": 2017, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 2017, "end_frame": 2120, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 2120, "end_frame": 2243, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2243, "end_frame": 2456, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2456, "end_frame": 2628, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694390, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 275, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 275, "end_frame": 443, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 443, "end_frame": 498, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 498, "end_frame": 707, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 707, "end_frame": 810, "action_text": "Turn off the faucet with 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"skill": "Push" }, { "start_frame": 2207, "end_frame": 2334, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2334, "end_frame": 2567, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2567, "end_frame": 2832, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694492, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 227, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 227, "end_frame": 389, "action_text": "Empty the water from the water cup held in 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"Pour" }, { "start_frame": 1518, "end_frame": 1566, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1566, "end_frame": 1821, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1821, "end_frame": 1921, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1921, "end_frame": 2034, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2034, "end_frame": 2237, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2237, "end_frame": 2402, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694512, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of 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"Pour" }, { "start_frame": 2373, "end_frame": 2621, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694540, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 254, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 254, "end_frame": 438, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 438, "end_frame": 507, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 507, "end_frame": 688, "action_text": "Turn on the faucet with the right 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"Pull" }, { "start_frame": 1817, "end_frame": 1925, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1925, "end_frame": 2036, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 2036, "end_frame": 2251, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2251, "end_frame": 2470, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694565, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 251, "action_text": "Lift the object on the table with the left arm.", "skill": 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"init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 232, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 232, "end_frame": 388, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 388, "end_frame": 440, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 440, "end_frame": 672, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 672, "end_frame": 786, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 786, "end_frame": 883, "action_text": "Grab the cup brush from the storage box on the counter 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"start_frame": 2053, "end_frame": 2240, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2240, "end_frame": 2402, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694608, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 220, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 220, "end_frame": 378, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 378, "end_frame": 440, "action_text": "Place the water cup held in the left arm under 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], "key_frame": [ { "start": 1324, "end": 1723, "description": "" } ] } }, { "episode_id": 695107, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 200, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 200, "end_frame": 325, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 325, "end_frame": 397, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 397, "end_frame": 556, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 556, "end_frame": 628, "action_text": "Turn off the faucet 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715, "end_frame": 1065, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1065, "end_frame": 1216, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1216, "end_frame": 1325, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1325, "end_frame": 1393, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1393, "end_frame": 1547, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1547, "end_frame": 1637, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1637, "end_frame": 1777, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 1777, "end_frame": 1859, "action_text": "Empty the 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618, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 618, "end_frame": 729, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 729, "end_frame": 847, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 847, "end_frame": 1171, "action_text": "Scrub the water cup held in the left arm with the cup brush in the right arm.", "skill": "Brush" }, { "start_frame": 1171, "end_frame": 1320, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1320, "end_frame": 1438, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1438, "end_frame": 1507, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1507, "end_frame": 1664, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1664, "end_frame": 1767, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1767, "end_frame": 1942, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 1942, "end_frame": 2015, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 2015, "end_frame": 2247, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695485, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 197, "action_text": "Lift the 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392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 196, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 196, "end_frame": 298, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 298, "end_frame": 389, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 389, "end_frame": 555, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 555, "end_frame": 631, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 631, "end_frame": 740, "action_text": "Grab the cup 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974, "end_frame": 1113, "action_text": "Place the cup brush back into the storage box on the counter with the right arm.", "skill": "Place" }, { "start_frame": 1113, "end_frame": 1219, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1219, "end_frame": 1276, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 1276, "end_frame": 1430, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 1430, "end_frame": 1544, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 1544, "end_frame": 1680, "action_text": "Swing the left arm holding water cup.", "skill": "Shake" }, { "start_frame": 1680, "end_frame": 1740, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 1740, "end_frame": 1936, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695585, "task_id": 392, "task_name": "Brush water bottle", "init_scene_text": "Initial position: The robot is facing the sink, with a water bottle containing a small amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 181, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 181, "end_frame": 271, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 271, "end_frame": 332, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 332, "end_frame": 524, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 524, "end_frame": 592, "action_text": "Turn off the faucet 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amount of colored liquid placed on the countertop, and a cup brush standing upright in a storage box on the countertop.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 196, "action_text": "Lift the object on the table with the left arm.", "skill": "Pick" }, { "start_frame": 196, "end_frame": 280, "action_text": "Empty the water from the water cup held in the left arm.", "skill": "Pour" }, { "start_frame": 280, "end_frame": 348, "action_text": "Place the water cup held in the left arm under the faucet.", "skill": "Hold" }, { "start_frame": 348, "end_frame": 503, "action_text": "Turn on the faucet with the right arm.", "skill": "Pull" }, { "start_frame": 503, "end_frame": 601, "action_text": "Turn off the faucet with the right arm.", "skill": "Push" }, { "start_frame": 601, "end_frame": 718, "action_text": "Grab the cup brush from the storage box on the counter with the right arm.", "skill": "Pick" }, { "start_frame": 718, "end_frame": 1032, "action_text": "Scrub 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"skill": "Pour" }, { "start_frame": 1912, "end_frame": 2109, "action_text": "Place the water cup held in the left arm back onto the table.", "skill": "Place" } ], "key_frame": [] } } ]