[ { "episode_id": 680010, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 85, "end_frame": 376, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 376, "end_frame": 657, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 657, "end_frame": 836, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 836, "end_frame": 1162, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1162, "end_frame": 1416, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680040, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 381, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 381, "end_frame": 512, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 512, "end_frame": 812, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 812, "end_frame": 1077, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1077, "end_frame": 1281, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680061, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 34, "end_frame": 397, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 397, "end_frame": 680, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 680, "end_frame": 880, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 880, "end_frame": 1133, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1133, "end_frame": 1445, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680098, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 379, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 379, "end_frame": 651, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 651, "end_frame": 872, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 872, "end_frame": 1127, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1127, "end_frame": 1483, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680128, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 40, "end_frame": 481, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 481, "end_frame": 709, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 709, "end_frame": 937, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 937, "end_frame": 1146, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1146, "end_frame": 1397, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680180, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 391, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 391, "end_frame": 761, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 761, "end_frame": 949, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 949, "end_frame": 1244, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1244, "end_frame": 1500, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680195, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 10, "end_frame": 301, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 301, "end_frame": 549, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 549, "end_frame": 755, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 755, "end_frame": 1065, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1065, "end_frame": 1376, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680209, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 23, "end_frame": 319, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 319, "end_frame": 570, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 570, "end_frame": 807, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 807, "end_frame": 1149, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1149, "end_frame": 1460, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680268, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 393, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 393, "end_frame": 718, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 718, "end_frame": 908, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 908, "end_frame": 1201, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1201, "end_frame": 1445, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683920, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 499, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 499, "end_frame": 800, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 800, "end_frame": 971, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 971, "end_frame": 1189, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1189, "end_frame": 1435, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683929, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 423, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 423, "end_frame": 641, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 641, "end_frame": 811, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 811, "end_frame": 1052, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1052, "end_frame": 1269, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683939, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 365, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 365, "end_frame": 621, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 621, "end_frame": 872, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 872, "end_frame": 1080, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1080, "end_frame": 1309, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683960, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 460, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 460, "end_frame": 744, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 744, "end_frame": 953, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 953, "end_frame": 1186, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1186, "end_frame": 1431, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683989, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 400, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 400, "end_frame": 713, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 713, "end_frame": 863, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 863, "end_frame": 1171, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1171, "end_frame": 1351, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684066, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 284, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 284, "end_frame": 566, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 566, "end_frame": 729, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 729, "end_frame": 1019, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1019, "end_frame": 1268, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684090, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 420, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 420, "end_frame": 723, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 723, "end_frame": 1022, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 1022, "end_frame": 1351, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1351, "end_frame": 1472, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684106, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 335, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 335, "end_frame": 611, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 611, "end_frame": 822, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 822, "end_frame": 1073, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1073, "end_frame": 1314, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684114, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 434, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 434, "end_frame": 706, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 706, "end_frame": 850, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 850, "end_frame": 1200, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1200, "end_frame": 1430, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684142, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 360, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 360, "end_frame": 646, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 646, "end_frame": 810, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 810, "end_frame": 1102, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1102, "end_frame": 1318, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684152, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 352, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 352, "end_frame": 580, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 580, "end_frame": 747, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 747, "end_frame": 1045, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1045, "end_frame": 1250, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684169, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 371, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 371, "end_frame": 648, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 648, "end_frame": 828, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 828, "end_frame": 1072, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1072, "end_frame": 1291, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684197, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 408, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 408, "end_frame": 712, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 712, "end_frame": 943, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 943, "end_frame": 1261, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1261, "end_frame": 1485, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684213, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 420, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 420, "end_frame": 756, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 756, "end_frame": 968, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 968, "end_frame": 1248, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1248, "end_frame": 1442, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684233, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 400, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 400, "end_frame": 694, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 694, "end_frame": 918, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 918, "end_frame": 1332, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1332, "end_frame": 1500, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684268, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 432, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 432, "end_frame": 751, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 751, "end_frame": 992, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 992, "end_frame": 1323, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1323, "end_frame": 1500, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684301, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 386, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 386, "end_frame": 678, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 678, "end_frame": 884, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 884, "end_frame": 1232, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1232, "end_frame": 1493, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684317, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 468, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 468, "end_frame": 792, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 792, "end_frame": 973, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 973, "end_frame": 1310, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1310, "end_frame": 1495, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684331, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 416, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 416, "end_frame": 774, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 774, "end_frame": 942, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 942, "end_frame": 1250, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1250, "end_frame": 1453, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684361, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 462, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 462, "end_frame": 744, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 744, "end_frame": 921, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 921, "end_frame": 1139, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1139, "end_frame": 1349, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684374, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 351, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 351, "end_frame": 642, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 642, "end_frame": 798, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 798, "end_frame": 1069, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1069, "end_frame": 1270, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684423, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 410, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 410, "end_frame": 736, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 736, "end_frame": 922, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 922, "end_frame": 1287, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1287, "end_frame": 1412, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684441, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 433, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 433, "end_frame": 728, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 728, "end_frame": 970, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 970, "end_frame": 1316, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1316, "end_frame": 1479, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684451, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 387, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 387, "end_frame": 717, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 717, "end_frame": 897, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 897, "end_frame": 1163, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1163, "end_frame": 1405, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684462, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 404, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 404, "end_frame": 743, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 743, "end_frame": 876, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 876, "end_frame": 1224, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1224, "end_frame": 1410, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684481, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 420, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 420, "end_frame": 706, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 706, "end_frame": 966, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 966, "end_frame": 1232, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1232, "end_frame": 1397, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684491, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 494, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 494, "end_frame": 785, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 785, "end_frame": 925, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 925, "end_frame": 1240, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1240, "end_frame": 1457, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684501, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 360, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 360, "end_frame": 734, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 734, "end_frame": 944, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 944, "end_frame": 1296, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1296, "end_frame": 1498, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684519, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 459, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 459, "end_frame": 756, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 756, "end_frame": 911, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 911, "end_frame": 1247, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1247, "end_frame": 1499, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684535, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 379, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 379, "end_frame": 778, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 778, "end_frame": 968, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 968, "end_frame": 1207, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1207, "end_frame": 1413, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684565, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 392, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 392, "end_frame": 680, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 680, "end_frame": 868, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 868, "end_frame": 1140, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1140, "end_frame": 1361, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684584, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 414, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 414, "end_frame": 740, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 740, "end_frame": 931, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 931, "end_frame": 1176, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1176, "end_frame": 1375, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684604, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 331, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 331, "end_frame": 578, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 578, "end_frame": 782, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 782, "end_frame": 1177, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1177, "end_frame": 1440, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684616, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 368, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 368, "end_frame": 688, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 688, "end_frame": 846, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 846, "end_frame": 1133, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1133, "end_frame": 1325, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684631, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 477, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 477, "end_frame": 866, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 866, "end_frame": 1070, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 1070, "end_frame": 1345, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1345, "end_frame": 1494, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684642, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 481, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 481, "end_frame": 782, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 782, "end_frame": 988, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 988, "end_frame": 1324, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1324, "end_frame": 1498, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684653, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 351, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 351, "end_frame": 616, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 616, "end_frame": 801, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 801, "end_frame": 1107, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1107, "end_frame": 1295, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684662, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 373, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 373, "end_frame": 677, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 677, "end_frame": 846, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 846, "end_frame": 1133, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1133, "end_frame": 1366, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684671, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 433, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 433, "end_frame": 842, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 842, "end_frame": 1006, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 1006, "end_frame": 1333, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1333, "end_frame": 1501, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684680, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 399, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 399, "end_frame": 753, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 753, "end_frame": 923, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 923, "end_frame": 1307, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1307, "end_frame": 1499, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684702, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 310, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 310, "end_frame": 648, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 648, "end_frame": 857, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 857, "end_frame": 1131, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1131, "end_frame": 1393, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684709, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 427, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 427, "end_frame": 769, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 769, "end_frame": 959, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 959, "end_frame": 1275, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1275, "end_frame": 1449, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684786, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 336, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 336, "end_frame": 635, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 635, "end_frame": 729, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 729, "end_frame": 1027, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1027, "end_frame": 1209, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684805, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 327, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 327, "end_frame": 543, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 543, "end_frame": 755, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 755, "end_frame": 1091, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1091, "end_frame": 1327, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684819, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 314, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 314, "end_frame": 704, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 704, "end_frame": 904, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 904, "end_frame": 1193, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1193, "end_frame": 1387, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684842, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 329, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 329, "end_frame": 649, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 649, "end_frame": 853, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 853, "end_frame": 1144, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1144, "end_frame": 1320, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684865, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 344, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 344, "end_frame": 679, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 679, "end_frame": 862, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 862, "end_frame": 1165, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1165, "end_frame": 1380, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684871, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 391, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 391, "end_frame": 749, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 749, "end_frame": 984, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 984, "end_frame": 1191, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1191, "end_frame": 1382, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684880, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 307, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 307, "end_frame": 604, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 604, "end_frame": 856, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 856, "end_frame": 1237, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1237, "end_frame": 1395, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684892, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 471, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 471, "end_frame": 719, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 719, "end_frame": 910, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 910, "end_frame": 1233, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1233, "end_frame": 1463, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684907, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 339, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 339, "end_frame": 630, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 630, "end_frame": 802, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 802, "end_frame": 1168, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1168, "end_frame": 1410, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684936, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 300, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 300, "end_frame": 769, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 769, "end_frame": 921, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 921, "end_frame": 1200, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1200, "end_frame": 1437, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684952, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 380, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 380, "end_frame": 720, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 720, "end_frame": 997, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 997, "end_frame": 1293, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1293, "end_frame": 1499, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684968, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 425, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 425, "end_frame": 780, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 780, "end_frame": 967, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 967, "end_frame": 1288, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1288, "end_frame": 1475, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685077, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 357, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 357, "end_frame": 766, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 766, "end_frame": 948, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 948, "end_frame": 1334, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1334, "end_frame": 1480, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685096, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 313, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 313, "end_frame": 712, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 712, "end_frame": 868, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 868, "end_frame": 1200, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1200, "end_frame": 1374, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685106, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 360, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 360, "end_frame": 662, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 662, "end_frame": 920, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 920, "end_frame": 1240, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1240, "end_frame": 1414, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685116, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 322, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 322, "end_frame": 693, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 693, "end_frame": 907, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 907, "end_frame": 1240, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1240, "end_frame": 1426, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685130, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 438, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 438, "end_frame": 792, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 792, "end_frame": 972, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 972, "end_frame": 1346, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1346, "end_frame": 1500, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685144, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 338, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 338, "end_frame": 664, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 664, "end_frame": 864, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 864, "end_frame": 1144, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1144, "end_frame": 1344, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685156, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 346, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 346, "end_frame": 745, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 745, "end_frame": 965, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 965, "end_frame": 1296, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1296, "end_frame": 1476, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685169, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 399, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 399, "end_frame": 665, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 665, "end_frame": 819, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 819, "end_frame": 1240, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1240, "end_frame": 1429, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685195, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 252, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 252, "end_frame": 586, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 586, "end_frame": 756, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 756, "end_frame": 1171, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1171, "end_frame": 1383, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685206, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 326, "action_text": "Retrieve blue round-neck short-sleeve with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 326, "end_frame": 600, "action_text": "Pass the blue round-neck short-sleeve with both hands.", "skill": "HandOver" }, { "start_frame": 600, "end_frame": 798, "action_text": "Place the blue round-neck short-sleeve held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 798, "end_frame": 1175, "action_text": "Retrieve retro blue jeans from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1175, "end_frame": 1453, "action_text": "Place the retro blue jeans held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680647, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 19, "end_frame": 220, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 220, "end_frame": 429, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 429, "end_frame": 590, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 590, "end_frame": 842, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 842, "end_frame": 985, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680664, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 26, "end_frame": 316, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 316, "end_frame": 625, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 625, "end_frame": 827, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 827, "end_frame": 1113, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1113, "end_frame": 1293, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680680, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 45, "end_frame": 330, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 330, "end_frame": 616, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 616, "end_frame": 764, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 764, "end_frame": 1020, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1020, "end_frame": 1223, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680720, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 203, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 203, "end_frame": 491, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 491, "end_frame": 704, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 704, "end_frame": 978, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 978, "end_frame": 1136, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680732, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 176, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 176, "end_frame": 437, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 437, "end_frame": 613, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 613, "end_frame": 876, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 876, "end_frame": 1037, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680760, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 196, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 196, "end_frame": 465, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 465, "end_frame": 632, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 632, "end_frame": 880, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 880, "end_frame": 1079, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680771, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 41, "end_frame": 239, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 239, "end_frame": 468, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 468, "end_frame": 631, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 631, "end_frame": 867, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 867, "end_frame": 1046, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680789, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 159, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 159, "end_frame": 447, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 447, "end_frame": 622, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 622, "end_frame": 843, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 843, "end_frame": 1008, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680824, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 172, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 172, "end_frame": 481, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 481, "end_frame": 683, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 683, "end_frame": 931, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 931, "end_frame": 1132, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680850, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 170, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 170, "end_frame": 492, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 492, "end_frame": 656, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 656, "end_frame": 875, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 875, "end_frame": 1052, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680889, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 168, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 168, "end_frame": 420, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 420, "end_frame": 583, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 583, "end_frame": 1092, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1092, "end_frame": 1314, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [ { "start": 583, "end": 1092, "description": "" } ] } }, { "episode_id": 680904, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 236, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 236, "end_frame": 493, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 493, "end_frame": 772, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 772, "end_frame": 1023, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1023, "end_frame": 1241, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680927, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 185, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 185, "end_frame": 440, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 440, "end_frame": 635, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 635, "end_frame": 887, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 887, "end_frame": 1086, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680942, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 192, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 192, "end_frame": 461, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 461, "end_frame": 660, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 660, "end_frame": 887, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 887, "end_frame": 1100, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681545, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 223, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 223, "end_frame": 502, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 502, "end_frame": 713, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 713, "end_frame": 941, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 941, "end_frame": 1273, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681580, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 206, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 206, "end_frame": 457, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 457, "end_frame": 693, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 693, "end_frame": 984, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 984, "end_frame": 1212, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681741, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 190, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 190, "end_frame": 439, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 439, "end_frame": 791, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 791, "end_frame": 1013, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1013, "end_frame": 1398, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681881, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 206, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 206, "end_frame": 459, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 459, "end_frame": 582, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 582, "end_frame": 1067, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1067, "end_frame": 1254, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [ { "start": 582, "end": 1067, "description": "" } ] } }, { "episode_id": 681938, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 207, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 207, "end_frame": 434, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 434, "end_frame": 695, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 695, "end_frame": 924, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 924, "end_frame": 1128, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681995, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 221, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 221, "end_frame": 472, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 472, "end_frame": 645, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 645, "end_frame": 908, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 908, "end_frame": 1167, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682014, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 233, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 233, "end_frame": 492, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 492, "end_frame": 661, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 661, "end_frame": 918, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 918, "end_frame": 1111, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682027, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 207, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 207, "end_frame": 434, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 434, "end_frame": 575, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 575, "end_frame": 776, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 776, "end_frame": 982, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682051, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 198, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 198, "end_frame": 422, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 422, "end_frame": 566, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 566, "end_frame": 1068, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1068, "end_frame": 1230, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [ { "start": 566, "end": 1068, "description": "" } ] } }, { "episode_id": 682066, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 184, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 184, "end_frame": 441, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 441, "end_frame": 605, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 605, "end_frame": 904, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 904, "end_frame": 1376, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682082, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 214, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 214, "end_frame": 498, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 498, "end_frame": 679, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 679, "end_frame": 949, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 949, "end_frame": 1089, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682098, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 194, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 194, "end_frame": 400, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 400, "end_frame": 549, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 549, "end_frame": 816, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 816, "end_frame": 934, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682122, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 245, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 245, "end_frame": 460, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 460, "end_frame": 569, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 569, "end_frame": 1021, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1021, "end_frame": 1144, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [ { "start": 569, "end": 1021, "description": "" } ] } }, { "episode_id": 682143, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 250, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 250, "end_frame": 503, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 503, "end_frame": 655, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 655, "end_frame": 852, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 852, "end_frame": 996, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682211, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 210, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 210, "end_frame": 428, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 428, "end_frame": 524, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 524, "end_frame": 956, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 956, "end_frame": 1074, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682289, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 213, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 213, "end_frame": 399, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 399, "end_frame": 521, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 521, "end_frame": 885, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 885, "end_frame": 1008, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682300, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 248, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 248, "end_frame": 478, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 478, "end_frame": 621, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 621, "end_frame": 894, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 894, "end_frame": 1005, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682315, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 157, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 157, "end_frame": 412, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 412, "end_frame": 560, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 560, "end_frame": 741, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 741, "end_frame": 911, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682324, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 194, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 194, "end_frame": 358, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 358, "end_frame": 443, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 443, "end_frame": 694, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 694, "end_frame": 854, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682338, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 179, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 179, "end_frame": 344, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 344, "end_frame": 500, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 500, "end_frame": 703, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 703, "end_frame": 898, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682364, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 174, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 174, "end_frame": 397, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 397, "end_frame": 539, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 539, "end_frame": 811, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 811, "end_frame": 940, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682383, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 181, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 181, "end_frame": 454, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 454, "end_frame": 565, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 565, "end_frame": 786, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 786, "end_frame": 935, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682398, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 192, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 192, "end_frame": 431, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 431, "end_frame": 554, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 554, "end_frame": 800, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 800, "end_frame": 911, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682416, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 238, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 238, "end_frame": 432, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 432, "end_frame": 589, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 589, "end_frame": 967, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 967, "end_frame": 1164, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682538, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 185, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 185, "end_frame": 389, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 389, "end_frame": 536, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 536, "end_frame": 913, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 913, "end_frame": 991, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [ { "start": 536, "end": 913, "description": "" } ] } }, { "episode_id": 682548, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 194, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 194, "end_frame": 411, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 411, "end_frame": 611, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 611, "end_frame": 990, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 990, "end_frame": 1102, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [ { "start": 611, "end": 990, "description": "" } ] } }, { "episode_id": 682567, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 30, "end_frame": 194, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 194, "end_frame": 454, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 454, "end_frame": 571, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 571, "end_frame": 792, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 792, "end_frame": 907, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682580, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 199, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 199, "end_frame": 404, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 404, "end_frame": 563, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 563, "end_frame": 718, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 718, "end_frame": 819, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682594, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 185, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 185, "end_frame": 398, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 398, "end_frame": 526, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 526, "end_frame": 895, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 895, "end_frame": 1029, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [ { "start": 526, "end": 895, "description": "" } ] } }, { "episode_id": 682618, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 167, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 167, "end_frame": 322, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 322, "end_frame": 439, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 439, "end_frame": 640, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 640, "end_frame": 785, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682628, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 174, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 174, "end_frame": 376, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 376, "end_frame": 555, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 555, "end_frame": 969, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 969, "end_frame": 1122, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682642, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 160, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 160, "end_frame": 349, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 349, "end_frame": 478, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 478, "end_frame": 693, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 693, "end_frame": 893, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682658, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 207, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 207, "end_frame": 395, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 395, "end_frame": 537, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 537, "end_frame": 839, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 839, "end_frame": 1137, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682671, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 179, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 179, "end_frame": 434, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 434, "end_frame": 598, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 598, "end_frame": 901, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 901, "end_frame": 1094, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682711, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 191, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 191, "end_frame": 393, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 393, "end_frame": 527, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 527, "end_frame": 786, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 786, "end_frame": 920, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685398, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 345, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 345, "end_frame": 602, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 602, "end_frame": 794, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 794, "end_frame": 1149, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1149, "end_frame": 1352, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685449, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 277, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 277, "end_frame": 566, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 566, "end_frame": 731, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 731, "end_frame": 1066, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1066, "end_frame": 1275, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685462, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 586, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 586, "end_frame": 804, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 804, "end_frame": 914, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 914, "end_frame": 1132, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1132, "end_frame": 1285, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685471, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 307, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 307, "end_frame": 577, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 577, "end_frame": 744, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 744, "end_frame": 1111, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1111, "end_frame": 1404, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685490, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 475, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 475, "end_frame": 721, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 721, "end_frame": 883, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 883, "end_frame": 1268, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1268, "end_frame": 1465, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685501, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 568, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 568, "end_frame": 787, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 787, "end_frame": 962, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 962, "end_frame": 1357, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1357, "end_frame": 1486, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685521, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 484, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 484, "end_frame": 762, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 762, "end_frame": 915, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 915, "end_frame": 1200, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1200, "end_frame": 1401, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685550, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 375, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 375, "end_frame": 649, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 649, "end_frame": 791, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 791, "end_frame": 1244, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1244, "end_frame": 1414, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685572, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 364, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 364, "end_frame": 623, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 623, "end_frame": 872, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 872, "end_frame": 1158, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1158, "end_frame": 1339, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685582, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 407, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 407, "end_frame": 684, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 684, "end_frame": 828, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 828, "end_frame": 1084, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1084, "end_frame": 1317, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685778, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 274, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 274, "end_frame": 535, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 535, "end_frame": 708, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 708, "end_frame": 1065, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1065, "end_frame": 1309, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685803, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 517, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 517, "end_frame": 796, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 796, "end_frame": 967, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 967, "end_frame": 1273, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1273, "end_frame": 1500, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685815, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 348, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 348, "end_frame": 584, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 584, "end_frame": 737, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 737, "end_frame": 1059, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1059, "end_frame": 1338, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685829, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 385, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 385, "end_frame": 634, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 634, "end_frame": 775, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 775, "end_frame": 1112, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1112, "end_frame": 1271, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685843, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 425, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 425, "end_frame": 710, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 710, "end_frame": 883, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 883, "end_frame": 1169, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1169, "end_frame": 1358, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685899, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 400, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 400, "end_frame": 691, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 691, "end_frame": 847, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 847, "end_frame": 1123, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1123, "end_frame": 1348, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685915, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 389, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 389, "end_frame": 659, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 659, "end_frame": 834, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 834, "end_frame": 1300, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1300, "end_frame": 1465, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685947, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 400, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 400, "end_frame": 679, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 679, "end_frame": 888, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 888, "end_frame": 1153, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1153, "end_frame": 1380, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685971, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 381, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 381, "end_frame": 640, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 640, "end_frame": 819, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 819, "end_frame": 1085, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1085, "end_frame": 1379, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685985, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 440, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 440, "end_frame": 539, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 539, "end_frame": 830, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 830, "end_frame": 1150, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1150, "end_frame": 1377, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686015, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 372, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 372, "end_frame": 584, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 584, "end_frame": 701, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 701, "end_frame": 957, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 957, "end_frame": 1186, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686034, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 355, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 355, "end_frame": 591, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 591, "end_frame": 731, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 731, "end_frame": 1108, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1108, "end_frame": 1295, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686046, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 356, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 356, "end_frame": 630, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 630, "end_frame": 787, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 787, "end_frame": 1118, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1118, "end_frame": 1375, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686060, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 325, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 325, "end_frame": 580, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 580, "end_frame": 714, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 714, "end_frame": 1044, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1044, "end_frame": 1216, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686073, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 394, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 394, "end_frame": 636, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 636, "end_frame": 746, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 746, "end_frame": 1117, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1117, "end_frame": 1311, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686087, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 325, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 325, "end_frame": 570, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 570, "end_frame": 717, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 717, "end_frame": 1029, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1029, "end_frame": 1262, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686100, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 275, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 275, "end_frame": 555, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 555, "end_frame": 863, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 863, "end_frame": 1165, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1165, "end_frame": 1477, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686114, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 337, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 337, "end_frame": 582, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 582, "end_frame": 758, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 758, "end_frame": 1180, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1180, "end_frame": 1414, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686129, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 486, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 486, "end_frame": 742, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 742, "end_frame": 949, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 949, "end_frame": 1259, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1259, "end_frame": 1499, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686148, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 336, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 336, "end_frame": 587, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 587, "end_frame": 792, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 792, "end_frame": 1149, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1149, "end_frame": 1419, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686164, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 289, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 289, "end_frame": 543, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 543, "end_frame": 767, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 767, "end_frame": 1071, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1071, "end_frame": 1321, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686182, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 292, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 292, "end_frame": 527, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 527, "end_frame": 691, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 691, "end_frame": 910, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 910, "end_frame": 1192, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686244, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 339, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 339, "end_frame": 642, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 642, "end_frame": 841, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 841, "end_frame": 1124, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1124, "end_frame": 1285, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686256, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 283, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 283, "end_frame": 598, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 598, "end_frame": 765, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 765, "end_frame": 972, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 972, "end_frame": 1095, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686265, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 289, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 289, "end_frame": 547, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 547, "end_frame": 771, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 771, "end_frame": 1013, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1013, "end_frame": 1137, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686297, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 294, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 294, "end_frame": 542, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 542, "end_frame": 751, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 751, "end_frame": 1001, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1001, "end_frame": 1149, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686306, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 297, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 297, "end_frame": 608, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 608, "end_frame": 802, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 802, "end_frame": 1055, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1055, "end_frame": 1204, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686318, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 248, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 248, "end_frame": 471, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 471, "end_frame": 710, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 710, "end_frame": 929, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 929, "end_frame": 1088, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686329, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 341, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 341, "end_frame": 749, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 749, "end_frame": 914, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 914, "end_frame": 1112, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1112, "end_frame": 1273, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686340, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 369, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 369, "end_frame": 761, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 761, "end_frame": 913, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 913, "end_frame": 1136, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1136, "end_frame": 1316, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686346, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 289, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 289, "end_frame": 542, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 542, "end_frame": 738, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 738, "end_frame": 967, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 967, "end_frame": 1142, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686356, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 257, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 257, "end_frame": 517, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 517, "end_frame": 742, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 742, "end_frame": 1009, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1009, "end_frame": 1199, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686367, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 245, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 245, "end_frame": 497, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 497, "end_frame": 688, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 688, "end_frame": 942, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 942, "end_frame": 1137, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686381, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 358, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 358, "end_frame": 640, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 640, "end_frame": 887, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 887, "end_frame": 1148, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1148, "end_frame": 1401, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686389, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 330, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 330, "end_frame": 600, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 600, "end_frame": 827, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 827, "end_frame": 1062, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1062, "end_frame": 1261, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686401, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 319, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 319, "end_frame": 587, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 587, "end_frame": 800, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 800, "end_frame": 1096, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1096, "end_frame": 1301, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686423, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 269, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 269, "end_frame": 512, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 512, "end_frame": 717, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 717, "end_frame": 971, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 971, "end_frame": 1174, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686457, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 276, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 276, "end_frame": 599, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 599, "end_frame": 804, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 804, "end_frame": 1095, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1095, "end_frame": 1259, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686466, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 301, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 301, "end_frame": 566, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 566, "end_frame": 805, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 805, "end_frame": 1030, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 1030, "end_frame": 1191, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686478, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 258, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 258, "end_frame": 540, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 540, "end_frame": 723, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 723, "end_frame": 901, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 901, "end_frame": 1036, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686486, "task_id": 398, "task_name": "Sort clothes", "init_scene_text": "A robot is positioned in front of a table, on which there are a material box containing clothes and a target box. The 2-grid material box is on the right, and the target box is on the left.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 254, "action_text": "Retrieve blue long-sleeve shirt with the right arm from right material frame.", "skill": "Pick" }, { "start_frame": 254, "end_frame": 470, "action_text": "Pass the blue long-sleeve shirt with both hands.", "skill": "HandOver" }, { "start_frame": 470, "end_frame": 657, "action_text": "Place the blue long-sleeve shirt held in the left arm into the left gray target box.", "skill": "Place" }, { "start_frame": 657, "end_frame": 847, "action_text": "Retrieve blue-black casual trousers from left material frame with the left arm.", "skill": "Pick" }, { "start_frame": 847, "end_frame": 1014, "action_text": "Place the blue-black casual trousers held in the left arm into the left gray target box.", "skill": "Place" } ], "key_frame": [] } } ]